#include <sr_edc_muscle.h>

Inheritance diagram for SrEdcMuscle:

Public Member Functions
void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	Construct function, run at startup to set SyncManagers and FMMUs.
int	initialize (pr2_hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true)
void	multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer)
	This function gives some diagnostics data.
void	packCommand (unsigned char *buffer, bool halt, bool reset)
	packs the commands before sending them to the EtherCAT bus
	SrEdcMuscle ()
	Constructor of the SrEdcMuscle driver.
bool	unpackState (unsigned char this_buffer, unsigned char prev_buffer)
	This functions receives data from the EtherCAT bus.
	~SrEdcMuscle ()
	Destructor of the SrEdcMuscle driver.
Protected Types
typedef realtime_tools::RealtimePublisher < std_msgs::Int16 >	rt_pub_int16_t
Protected Member Functions
void	get_board_id_and_can_bus (int board_id, int can_bus, unsigned int board_can_id)
void	reinitialize_boards ()
	This function will call the reinitialization function for the boards attached to the CAN bus.
Protected Attributes
boost::shared_ptr < realtime_tools::RealtimePublisher < std_msgs::Float64MultiArray > >	extra_analog_inputs_publisher
	Extra analog inputs real time publisher (+ accelerometer and gyroscope)
std::vector< boost::shared_ptr < rt_pub_int16_t > >	realtime_pub_
Private Attributes
short	cycle_count
boost::shared_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::EthercatDebug > >	debug_publisher
	Debug real time publisher: publishes the raw ethercat data.
boost::shared_ptr < shadow_robot::SrMuscleHandLib < ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND > >	sr_hand_lib
unsigned int	zero_buffer_read
	counter for the number of empty buffer we're reading.

Detailed Description

Definition at line 54 of file sr_edc_muscle.h.

Member Typedef Documentation

typedef realtime_tools::RealtimePublisher<std_msgs::Int16> SrEdcMuscle::rt_pub_int16_t [protected]

Reimplemented from SrEdc.

Definition at line 69 of file sr_edc_muscle.h.

Constructor & Destructor Documentation

SrEdcMuscle::SrEdcMuscle ( )

Constructor of the SrEdcMuscle driver.

This is the Constructor of the driver. We initialize a few boolean values, a mutex and create the Bootloading service.

Definition at line 80 of file sr_edc_muscle.cpp.

SrEdcMuscle::~SrEdcMuscle ( )

Destructor of the SrEdcMuscle driver.

This is the Destructor of the driver. it frees the FMMUs and SyncManagers which have been allocated during the construct.

Definition at line 99 of file sr_edc_muscle.cpp.

Member Function Documentation

void SrEdcMuscle::construct	(	EtherCAT_SlaveHandler *	sh,
		int &	start_address
	)		`[virtual]`

Construct function, run at startup to set SyncManagers and FMMUs.

The role of this function is to setup the SyncManagers and the FMMUs used by this EtherCAT slave. This slave is using two Mailboxes on two different memory areas.

Here we are setting up the way of communicating between ROS and the PIC32 using the EtherCAT protocol.

We communicate using Shared Memory areas.

The FMMUs are usefull to map the logical memory used by ROS to the Physical memory of the EtherCAT slave chip (ET1200 chip). So that the chip receiving the packet will know that the data at address 0x10000 is in reality to be written at physical address 0x1000 of the chip memory for example. It is the mapping between the EtherCAT bus address space and each slave's chip own memory address space.

The SyncManagers are usefull to give a safe way of accessing this Shared Memory, using a consumer / producer model. There are features like interrupts to tell the consumer that there is something to consume or to tell the producer that the Mailbox is empty and then ready to receive a new message.

One Mailbox contains the commands, written by ROS, read by the PIC32
One Mailbox contains the status, written back by the PIC32, read by ROS

That's basically one Mailbox for upstream and one Mailbox for downstream.

The first Mailbox contains in fact two commands, one is the torque demand, the other is a CAN command used in CAN_DIRECT_MODE to communicate with the SimpleMotor for test purposes, or to reflash a new firmware in bootloading mode. This Mailbox is at logicial address 0x10000 and mapped via a FMMU to physical address 0x1000 (the first address of user memory)
The second Mailbox contains in fact two status, they are the response of the two previously described commands. One is the status containing the joints data, sensor data, finger tips data and motor data. The other is the can command response in CAN_DIRECT_MODE. When doing a flashing in bootloading mode this is usually an acknowledgment from the bootloader. This Mailbox is at logical address 0x10038 and mapped via a FMMU to physical address 0x1038.

This function sets the two private members command_size_ and status_size_ to be the size of each Mailbox. It is important for these numbers to be accurate since they are used by the EthercatHardware class when manipulating the buffers. If you need to have several commands like in this SrEdcMuscle driver, put the sum of the size, same thing for the status.

Reimplemented from SrEdc.

Definition at line 138 of file sr_edc_muscle.cpp.

void SrEdcMuscle::get_board_id_and_can_bus	(	int	board_id,
		int *	can_bus,
		unsigned int *	board_can_id
	)		`[protected, virtual]`

Given the identifier for a certain board (motor board/ muscle driver) determines the right value for the CAN bus and the ID of the board in that CAN bus.

Parameters:

board_id	the unique identifier for the board
can_bus	pointer to the can bus number we want to determine
board_can_id	pointer to the board id we want to determine

Implements SrEdc.

Definition at line 427 of file sr_edc_muscle.cpp.

int SrEdcMuscle::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)		`[virtual]`

Reimplemented from SrEdc.

Definition at line 152 of file sr_edc_muscle.cpp.

void SrEdcMuscle::multiDiagnostics	(	vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		unsigned char *	buffer
	)		`[virtual]`

This function gives some diagnostics data.

This function provides diagnostics data that can be displayed by the runtime_monitor node. We use the mutliDiagnostics as it publishes the diagnostics for each motors.

Reimplemented from EthercatDevice.

Definition at line 182 of file sr_edc_muscle.cpp.

void SrEdcMuscle::packCommand	(	unsigned char *	buffer,
		bool	halt,
		bool	reset
	)		`[virtual]`

packs the commands before sending them to the EtherCAT bus

This is one of the most important functions of this driver. This function is called each millisecond (1 kHz freq) by the EthercatHardware::update() function in the controlLoop() of the pr2_etherCAT node.

This function is called with a buffer as a parameter, the buffer provided is where we write the commands to send via EtherCAT.

We just cast the buffer to our structure type, fill the structure with our data, then add the structure size to the buffer address to shift into memory and access the second command. The buffer has been allocated with command_size_ bytes, which is the sum of the two command size, so we have to put the two commands one next to the other. In fact we access the buffer using this kind of code :

  ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND  *command = (ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND *)buffer;
  ETHERCAT_CAN_BRIDGE_DATA                       *message = (ETHERCAT_CAN_BRIDGE_DATA *)(buffer + ETHERCAT_COMMAND_DATA_SIZE);

Reimplemented from EthercatDevice.

Definition at line 233 of file sr_edc_muscle.cpp.

void SrEdcMuscle::reinitialize_boards ( ) [protected, virtual]

This function will call the reinitialization function for the boards attached to the CAN bus.

Implements SrEdc.

Definition at line 421 of file sr_edc_muscle.cpp.

bool SrEdcMuscle::unpackState	(	unsigned char *	this_buffer,
		unsigned char *	prev_buffer
	)		`[virtual]`

This functions receives data from the EtherCAT bus.

This function allows the driver to get the data present on the EtherCAT bus and intended for us.

It gives us access to the logical memory registered during the construct().

In order to be able to do differentials two buffers are kept, this_buffer is the actual data that has just been received and prev_buffer is the previous buffer received from the EtherCAT bus.

We access the data sent by PIC32 here using the same tricks we used in packCommand().

  ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS *tbuffer = (ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS *)(this_buffer + command_size_);
  ETHERCAT_CAN_BRIDGE_DATA *can_data = (ETHERCAT_CAN_BRIDGE_DATA *)(this_buffer + command_size_ + ETHERCAT_STATUS_DATA_SIZE);

Parameters:

this_buffer	The data just being received by EtherCAT
prev_buffer	The previous data received by EtherCAT

Reimplemented from EthercatDevice.

Definition at line 298 of file sr_edc_muscle.cpp.

Member Data Documentation

short SrEdcMuscle::cycle_count [private]

a counter used to publish the tactiles at 100Hz: count 10 cycles, then reset the cycle_count to 0.

Definition at line 101 of file sr_edc_muscle.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::EthercatDebug> > SrEdcMuscle::debug_publisher [private]

Debug real time publisher: publishes the raw ethercat data.

Definition at line 104 of file sr_edc_muscle.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64MultiArray> > SrEdcMuscle::extra_analog_inputs_publisher [protected]

Extra analog inputs real time publisher (+ accelerometer and gyroscope)

Reimplemented from SrEdc.

Definition at line 73 of file sr_edc_muscle.h.

std::vector< boost::shared_ptr<rt_pub_int16_t> > SrEdcMuscle::realtime_pub_ [protected]

Reimplemented from SrEdc.

Definition at line 70 of file sr_edc_muscle.h.

boost::shared_ptr<shadow_robot::SrMuscleHandLib<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS, ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND> > SrEdcMuscle::sr_hand_lib [private]

Definition at line 95 of file sr_edc_muscle.h.

unsigned int SrEdcMuscle::zero_buffer_read [private]

counter for the number of empty buffer we're reading.

Definition at line 93 of file sr_edc_muscle.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation