#include <EthercatMasterInterface.hpp>

Inheritance diagram for youbot::EthercatMasterInterface:

Public Member Functions
virtual void	AutomaticReceiveOn (const bool enableAutomaticReceive)=0
virtual void	AutomaticSendOn (const bool enableAutomaticSend)=0
virtual void	getEthercatDiagnosticInformation (std::vector< ec_slavet > &ethercatSlaveInfos)=0
virtual unsigned int	getNumberOfSlaves () const =0
	return the quantity of ethercat slave which have an input/output buffer
virtual bool	isErrorInSoemDriver ()=0
virtual bool	isEtherCATConnectionEstablished ()=0
virtual bool	isThreadActive ()=0
virtual bool	receiveProcessData ()=0
virtual void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)=0
virtual bool	sendProcessData ()=0
Protected Member Functions
	EthercatMasterInterface ()
virtual	~EthercatMasterInterface ()
Private Member Functions
virtual bool	getMailboxMsgBuffer (YouBotSlaveMailboxMsg &mailboxMsg, const unsigned int jointNumber)=0
virtual void	getMsgBuffer (const unsigned int jointNumber, YouBotSlaveMsg &returnMsg)=0
virtual void	setMailboxMsgBuffer (const YouBotSlaveMailboxMsg &msgBuffer, const unsigned int jointNumber)=0
virtual void	setMsgBuffer (const YouBotSlaveMsg &msgBuffer, const unsigned int jointNumber)=0
Friends
class	EthercatMaster
class	YouBotGripper
class	YouBotGripperBar
class	YouBotJoint

Detailed Description

The Ethercat Master interface

Definition at line 69 of file EthercatMasterInterface.hpp.

Constructor & Destructor Documentation

youbot::EthercatMasterInterface::EthercatMasterInterface ( ) [inline, protected]

Definition at line 76 of file EthercatMasterInterface.hpp.

virtual youbot::EthercatMasterInterface::~EthercatMasterInterface ( ) [inline, protected, virtual]

Definition at line 81 of file EthercatMasterInterface.hpp.

Member Function Documentation

virtual void youbot::EthercatMasterInterface::AutomaticReceiveOn ( const bool enableAutomaticReceive ) [pure virtual]

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::AutomaticSendOn ( const bool enableAutomaticSend ) [pure virtual]

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::getEthercatDiagnosticInformation ( std::vector< ec_slavet > & ethercatSlaveInfos ) [pure virtual]

provides all ethercat slave informations from the SOEM driver

Parameters:

ethercatSlaveInfos ethercat slave informations

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::getMailboxMsgBuffer	(	YouBotSlaveMailboxMsg &	mailboxMsg,
		const unsigned int	jointNumber
	)		`[private, pure virtual]`

gets a mailbox message form the buffer which came form the motor controllers

Parameters:

msgBuffer	ethercat mailbox message
jointNumber	joint number of the receiver joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::getMsgBuffer	(	const unsigned int	jointNumber,
		YouBotSlaveMsg &	returnMsg
	)		`[private, pure virtual]`

get a ethercat message form the buffer

Parameters:

msgBuffer	ethercat message
jointNumber	joint number of the receiver joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual unsigned int youbot::EthercatMasterInterface::getNumberOfSlaves ( ) const [pure virtual]

return the quantity of ethercat slave which have an input/output buffer

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::isErrorInSoemDriver ( ) [pure virtual]

checks if an error has occurred in the soem driver returns a true if an error has occurred

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::isEtherCATConnectionEstablished ( ) [pure virtual]

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::isThreadActive ( ) [pure virtual]

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::receiveProcessData ( ) [pure virtual]

receives ethercat messages from the motor controllers returns a true if everything it OK and returns false if something fail

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::registerJointLimitMonitor	(	JointLimitMonitor *	object,
		const unsigned int	JointNumber
	)		`[pure virtual]`

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::sendProcessData ( ) [pure virtual]

sends ethercat messages to the motor controllers returns a true if everything it OK and returns false if something fail

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::setMailboxMsgBuffer	(	const YouBotSlaveMailboxMsg &	msgBuffer,
		const unsigned int	jointNumber
	)		`[private, pure virtual]`

stores a mailbox message in a buffer which will be sent to the motor controllers

Parameters:

msgBuffer	ethercat mailbox message
jointNumber	joint number of the sender joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::setMsgBuffer	(	const YouBotSlaveMsg &	msgBuffer,
		const unsigned int	jointNumber
	)		`[private, pure virtual]`