sr06.cpp File Reference

This is a ROS driver for Shadow Robot #6 EtherCAT Slave. More...

#include <sr_edc_ethercat_drivers/sr06.h>
#include <dll/ethercat_dll.h>
#include <al/ethercat_AL.h>
#include <dll/ethercat_device_addressed_telegram.h>
#include <dll/ethercat_frame.h>
#include <realtime_tools/realtime_publisher.h>
#include <math.h>
#include <sstream>
#include <iomanip>
#include <boost/foreach.hpp>
#include <std_msgs/Int16.h>
#include <fcntl.h>
#include <stdio.h>
#include <pthread.h>
#include <bfd.h>
#include <sr_utilities/sr_math_utils.hpp>
#include <sr_external_dependencies/types_for_external.h>
#include <sr_external_dependencies/external/simplemotor-bootloader/bootloader.h>
#include <boost/static_assert.hpp>

Include dependency graph for sr06.cpp:

Go to the source code of this file.

Namespaces
namespace	is_edc_command_32_bits
Defines
#define	check_for_pthread_mutex_init_error(x)
#define	check_for_trylock_error(x)
#define	ETHERCAT_CAN_BRIDGE_DATA_SIZE   sizeof(ETHERCAT_CAN_BRIDGE_DATA)
#define	ETHERCAT_COMMAND_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND)
#define	ETHERCAT_STATUS_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS)
#define	unlock(x)
Functions
	is_edc_command_32_bits::BOOST_STATIC_ASSERT (sizeof(EDC_COMMAND)==4)
	PLUGINLIB_REGISTER_CLASS (6, SR06, EthercatDevice)

---

Detailed Description

This is a ROS driver for Shadow Robot #6 EtherCAT Slave.

Author:

Yann Sionneau <yann.sionneau@gmail.com>, Hugo Elias <hugo@shadowrobot.com>, Ugo Cupcic <ugo@shadowrobot.com>, contact <contact@shadowrobot.com>

Date:

Mon May 23 13:33:30 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file sr06.cpp.

---

Define Documentation

#define check_for_pthread_mutex_init_error

(

x

)

Value:

switch(x)               \
  {                                                                     \
  case EAGAIN:                                                          \
    ROS_ERROR("The system temporarily lacks the resources to create another mutex : %s:%d", __FILE__, __LINE__); \
    exit(1);                                                            \
    break;                                                              \
  case EINVAL:                                                          \
    ROS_ERROR("The value specified as attribute is invalid for mutex init : %s:%d", __FILE__, __LINE__); \
    exit(1);                                                            \
    break;                                                              \
  case ENOMEM:                                                          \
    ROS_ERROR("The process cannot allocate enough memory to create another mutex : %s:%d", __FILE__, __LINE__); \
    exit(1);                                                            \
    break;                                                              \
  case 0: /* SUCCESS */                                                 \
    break;                                                              \
  default:                                                              \
    ROS_ERROR("unknown error value, is this POSIX system ? : %s:%d", __FILE__, __LINE__); \
    exit(1);                                                            \
  }

Definition at line 80 of file sr06.cpp.

#define check_for_trylock_error

(

x

)

Value:

if (x == EINVAL)        \
  {                                                             \
    ROS_ERROR("mutex error %s:%d", __FILE__, __LINE__);         \
    exit(1);                                                    \
  }

Definition at line 113 of file sr06.cpp.

#define ETHERCAT_CAN_BRIDGE_DATA_SIZE   sizeof(ETHERCAT_CAN_BRIDGE_DATA)

Definition at line 75 of file sr06.cpp.

#define ETHERCAT_COMMAND_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND)

Definition at line 66 of file sr06.cpp.

#define ETHERCAT_STATUS_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS)

Definition at line 65 of file sr06.cpp.

#define unlock

(

x

)

Value:

switch ( pthread_mutex_unlock(x) )              \
  {                                                                     \
  case EINVAL:                                                          \
    ROS_ERROR("The value specified as a mutex is invalid : %s:%d", __FILE__, __LINE__); \
    exit(1);                                                            \
    break;                                                              \
  case EPERM:                                                           \
    ROS_ERROR("The current thread does not hold a lock on the mutex : %s:%d", __FILE__, __LINE__); \
    exit(1);                                                            \
    break;                                                              \
  }

Definition at line 101 of file sr06.cpp.

---

Function Documentation

PLUGINLIB_REGISTER_CLASS	(	6	,
		SR06	,
		EthercatDevice
	)