#include <wg_soft_processor.h>
Classes | |
struct | Info |
Public Member Functions | |
void | add (WGMailbox *mbx, const std::string &actuator_name, const std::string &processor_name, unsigned iram_address, unsigned ctrl_address) |
bool | initialize (EthercatCom *com) |
WGSoftProcessor () | |
Protected Member Functions | |
bool | assertReset (const Info &info, std::ostream &err_msg) |
Puts soft processor in reset. | |
const WGSoftProcessor::Info * | get (const std::string &actuator_name, const std::string &processor_name, std::ostream &err_out) const |
Get pointer to soft processor by name. Returns NULL if processor d/n exist and create message in err_out. | |
bool | readFirmwareCB (ethercat_hardware::SoftProcessorFirmwareRead::Request &request, ethercat_hardware::SoftProcessorFirmwareRead::Response &response) |
bool | releaseReset (const Info &info, std::ostream &err_msg) |
Takes soft processor out of reset. | |
bool | resetCB (ethercat_hardware::SoftProcessorReset::Request &request, ethercat_hardware::SoftProcessorReset::Response &response) |
bool | writeFirmwareCB (ethercat_hardware::SoftProcessorFirmwareWrite::Request &request, ethercat_hardware::SoftProcessorFirmwareWrite::Response &response) |
Protected Attributes | |
EthercatCom * | com_ |
std::vector< Info > | processors_ |
ros::ServiceServer | read_firmware_service_ |
service that allows read of soft processor firmware | |
ros::ServiceServer | reset_service_ |
service that resets soft-processor | |
ros::ServiceServer | write_firmware_service_ |
service that allows write of soft processor firmware | |
Static Protected Attributes | |
static const unsigned | IRAM_INSTRUCTION_LENGTH = 1024 |
Certain version of WG0X device firmware use soft proccessors to perform certain tasks. For soft processors it is sometimes benificial to allow firmware to be modified to support different devices
Definition at line 57 of file wg_soft_processor.h.
Definition at line 10 of file wg_soft_processor.cpp.
void ethercat_hardware::WGSoftProcessor::add | ( | WGMailbox * | mbx, |
const std::string & | actuator_name, | ||
const std::string & | processor_name, | ||
unsigned | iram_address, | ||
unsigned | ctrl_address | ||
) |
Definition at line 26 of file wg_soft_processor.cpp.
bool ethercat_hardware::WGSoftProcessor::assertReset | ( | const Info & | info, |
std::ostream & | err_msg | ||
) | [protected] |
Puts soft processor in reset.
Definition at line 176 of file wg_soft_processor.cpp.
const WGSoftProcessor::Info * ethercat_hardware::WGSoftProcessor::get | ( | const std::string & | actuator_name, |
const std::string & | processor_name, | ||
std::ostream & | err_out | ||
) | const [protected] |
Get pointer to soft processor by name. Returns NULL if processor d/n exist and create message in err_out.
Definition at line 38 of file wg_soft_processor.cpp.
bool ethercat_hardware::WGSoftProcessor::initialize | ( | EthercatCom * | com | ) |
Definition at line 15 of file wg_soft_processor.cpp.
bool ethercat_hardware::WGSoftProcessor::readFirmwareCB | ( | ethercat_hardware::SoftProcessorFirmwareRead::Request & | request, |
ethercat_hardware::SoftProcessorFirmwareRead::Response & | response | ||
) | [protected] |
Definition at line 56 of file wg_soft_processor.cpp.
bool ethercat_hardware::WGSoftProcessor::releaseReset | ( | const Info & | info, |
std::ostream & | err_msg | ||
) | [protected] |
Takes soft processor out of reset.
Definition at line 184 of file wg_soft_processor.cpp.
bool ethercat_hardware::WGSoftProcessor::resetCB | ( | ethercat_hardware::SoftProcessorReset::Request & | request, |
ethercat_hardware::SoftProcessorReset::Response & | response | ||
) | [protected] |
Definition at line 143 of file wg_soft_processor.cpp.
bool ethercat_hardware::WGSoftProcessor::writeFirmwareCB | ( | ethercat_hardware::SoftProcessorFirmwareWrite::Request & | request, |
ethercat_hardware::SoftProcessorFirmwareWrite::Response & | response | ||
) | [protected] |
Definition at line 106 of file wg_soft_processor.cpp.
EthercatCom* ethercat_hardware::WGSoftProcessor::com_ [protected] |
Definition at line 108 of file wg_soft_processor.h.
const unsigned ethercat_hardware::WGSoftProcessor::IRAM_INSTRUCTION_LENGTH = 1024 [static, protected] |
Definition at line 84 of file wg_soft_processor.h.
std::vector<Info> ethercat_hardware::WGSoftProcessor::processors_ [protected] |
Definition at line 86 of file wg_soft_processor.h.
service that allows read of soft processor firmware
Definition at line 95 of file wg_soft_processor.h.
service that resets soft-processor
Definition at line 97 of file wg_soft_processor.h.
service that allows write of soft processor firmware
Definition at line 96 of file wg_soft_processor.h.