wg_mailbox.h
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00034 
00035 #pragma once
00036 
00037 #include "ethercat_hardware/ethercat_com.h"
00038 #include <diagnostic_updater/DiagnosticStatusWrapper.h>
00039 
00040 namespace ethercat_hardware
00041 {
00042 
00043 
00044 struct MbxDiagnostics 
00045 {
00046   MbxDiagnostics();
00047   uint32_t write_errors_;
00048   uint32_t read_errors_;
00049   uint32_t lock_errors_;
00050   uint32_t retries_;
00051   uint32_t retry_errors_;
00052 };
00053 
00054 
00055 class WGMailbox
00056 {
00057 public:
00058   WGMailbox();
00059 
00060   bool initialize(EtherCAT_SlaveHandler *sh);
00061   int writeMailbox(EthercatCom *com, unsigned address, void const *data, unsigned length);
00062   int readMailbox(EthercatCom *com, unsigned address, void *data, unsigned length);
00063   void publishMailboxDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &d);
00064 
00065   static const unsigned MBX_COMMAND_PHY_ADDR = 0x1400;
00066   static const unsigned MBX_COMMAND_SIZE = 512;
00067   static const unsigned MBX_STATUS_PHY_ADDR = 0x2400;
00068   static const unsigned MBX_STATUS_SIZE = 512;
00069 
00070   static const unsigned MBX_COMMAND_SYNCMAN_NUM = 2;
00071   static const unsigned MBX_STATUS_SYNCMAN_NUM  = 3;
00072 
00073 protected:
00074   // Each WG0X device can only support one mailbox operation at a time
00075   bool lockMailbox();
00076   void unlockMailbox();
00077   pthread_mutex_t mailbox_lock_;
00078   MbxDiagnostics mailbox_diagnostics_;
00079   MbxDiagnostics mailbox_publish_diagnostics_;
00080 
00081   // Mailbox helper functions
00082   int writeMailbox_(EthercatCom *com, unsigned address, void const *data, unsigned length);
00083   int readMailbox_(EthercatCom *com, unsigned address, void *data, unsigned length);  
00084   bool verifyDeviceStateForMailboxOperation();
00085   bool clearReadMailbox(EthercatCom *com);
00086   bool waitForReadMailboxReady(EthercatCom *com);
00087   bool waitForWriteMailboxReady(EthercatCom *com);
00088   bool readMailboxRepeatRequest(EthercatCom *com);
00089   bool _readMailboxRepeatRequest(EthercatCom *com);
00090   bool writeMailboxInternal(EthercatCom *com, void const *data, unsigned length);
00091   bool readMailboxInternal(EthercatCom *com, void *data, unsigned length);
00092   void diagnoseMailboxError(EthercatCom *com);
00093   
00094   EtherCAT_SlaveHandler *sh_;
00095 };
00096 
00097 
00098 }; //end namespace ethercat_hardware


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Fri Aug 28 2015 12:09:44