#include <cod_decod_std_io.hpp>

Inheritance diagram for sr_cod_decod::CodDecodStdIo:

Public Member Functions
virtual void	add_diagnostics (std::vector< diagnostic_msgs::DiagnosticStatus > &vec, diagnostic_updater::DiagnosticStatusWrapper &d)
virtual double	analogInputToDouble (sr_cod_decod_std_io::AnalogInput input_pin)
	returns the value read from an analog input of the ethercat module
virtual void	analogInputToDouble (sr_cod_decod_std_io::AnalogInput input_pin, double *where_to_store_it)
	Maps the value read from an analog input of the ethercat module to a double variable.
int	analogInputToInt (sr_cod_decod_std_io::AnalogInput input_pin)
	returns the value read from an analog input of the ethercat module
virtual void	analogInputToInt (sr_cod_decod_std_io::AnalogInput input_pin, int *where_to_store_it)
	Maps the value read from an analog input of the ethercat module to a double variable.
uint16_t	analogInputToUint16 (sr_cod_decod_std_io::AnalogInput input_pin)
	returns the value read from an analog input of the ethercat module
virtual void	analogInputToUint16 (sr_cod_decod_std_io::AnalogInput input_pin, uint16_t *where_to_store_it)
	Maps the value read from an analog input of the ethercat module to a double variable.
virtual void	boolToDigitalOutput (sr_cod_decod_std_io::DigitalIo output_pin, bool value)
	Maps the sign of a double value to a digital output of the ethercat module.
virtual void	build_command (unsigned char *command_buffer)
	Builds the command for an ethercat device. It contains the output values currently contained in digital_output_ , analog_output_ and PWM_output_.
	CodDecodStdIo ()
virtual void	construct (hardware_interface::HardwareInterface hw, EtherCAT_SlaveHandler sh, int n_digital_outputs, int n_analog_outputs, int n_digital_inputs, int n_analog_inputs, int n_PWM_outputs)
virtual bool	digitalInputToBool (sr_cod_decod_std_io::DigitalIo input_pin)
	returns the value read from a digital input of the ethercat module
virtual void	digitalInputToBool (sr_cod_decod_std_io::DigitalIo input_pin, bool *where_to_store_it)
	Maps the value read from a digital input of the ethercat module to a bool variable.
virtual void	doubleToAnalogOutput (sr_cod_decod_std_io::AnalogOutput output_pin, double value)
	Sets an analog output using a value from a double variable.
virtual void	doubleToPWMOutput (sr_cod_decod_std_io::DigitalIo output_pin, uint16_t PWM_period, double PWM_ON_time)
	Sets a PWM output using PWM_ON_time and PWM_period to determine the PWM signal form.
virtual void	setPinAsDigitalInput (sr_cod_decod_std_io::DigitalIo pin)
	Configures a digital I/O pin as digital input.
virtual void	signToDigitalOutput (sr_cod_decod_std_io::DigitalIo output_pin, double value)
	Maps the sign of a double value to a digital output of the ethercat module.
virtual void	uint16ToAnalogOutput (sr_cod_decod_std_io::AnalogOutput output_pin, uint16_t value)
	Sets an analog output using a value from a uint16 variable.
virtual void	uint16ToPWMOutput (sr_cod_decod_std_io::DigitalIo output_pin, uint16_t PWM_period, uint16_t PWM_ON_time)
	Sets a PWM output using PWM_ON_time and PWM_period to determine the PWM signal form.
virtual void	update (unsigned char *status_buffer)
	Reads the information from the ethercat device and decodes it. It's stored in d_in_ and a_in_;.
Protected Member Functions
void	analogOutputCommandCB (const std_msgs::UInt16MultiArrayConstPtr &msg)
void	digitalOutputCommandCB (const sr_ronex_msgs::BoolArrayConstPtr &msg)
void	PWMOutputCommandCB (const std_msgs::UInt16MultiArrayConstPtr &msg)
Protected Attributes
std_msgs::UInt16MultiArray	a_in_
boost::scoped_ptr < realtime_tools::RealtimePublisher < std_msgs::UInt16MultiArray > >	analog_input_state_publisher_
realtime_tools::RealtimeBox < boost::shared_ptr < std_msgs::UInt16MultiArray > >	analog_output_
unsigned int	command_size_
sr_ronex_msgs::BoolArray	d_in_
boost::scoped_ptr < realtime_tools::RealtimePublisher < sr_ronex_msgs::BoolArray > >	digital_input_state_publisher_
realtime_tools::RealtimeBox < boost::shared_ptr < sr_ronex_msgs::BoolArray > >	digital_output_
unsigned	n_analog_inputs_
unsigned	n_analog_outputs_
unsigned	n_digital_inputs_
unsigned	n_digital_outputs_
unsigned	n_PWM_outputs_
ros::NodeHandle	node_
realtime_tools::RealtimeBox < boost::shared_ptr < std_msgs::UInt16MultiArray > >	PWM_output_
unsigned int	status_size_
ros::Subscriber	sub_analog_output_command_
ros::Subscriber	sub_digital_output_command_
ros::Subscriber	sub_PWM_output_command_

Detailed Description

Definition at line 68 of file cod_decod_std_io.hpp.

Constructor & Destructor Documentation

sr_cod_decod::CodDecodStdIo::CodDecodStdIo ( )

Definition at line 36 of file cod_decod_std_io.cpp.

Member Function Documentation

void sr_cod_decod::CodDecodStdIo::add_diagnostics	(	std::vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		diagnostic_updater::DiagnosticStatusWrapper &	d
	)		`[virtual]`

Reimplemented from sr_cod_decod::CodDecod.

Definition at line 352 of file cod_decod_std_io.cpp.

double sr_cod_decod::CodDecodStdIo::analogInputToDouble ( sr_cod_decod_std_io::AnalogInput input_pin ) [virtual]

returns the value read from an analog input of the ethercat module

Parameters:

input_pin the physical analog input pin of the ethercat module

Returns:: the value read from the analog input

Definition at line 382 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::analogInputToDouble	(	sr_cod_decod_std_io::AnalogInput	input_pin,
		double *	where_to_store_it
	)		`[virtual]`

Maps the value read from an analog input of the ethercat module to a double variable.

Parameters:

input_pin	the physical analog input pin of the ethercat module
where_to_store_it	a pointer to a double variable where we want to write the read value

Definition at line 388 of file cod_decod_std_io.cpp.

int sr_cod_decod::CodDecodStdIo::analogInputToInt ( sr_cod_decod_std_io::AnalogInput input_pin )

returns the value read from an analog input of the ethercat module

Parameters:

input_pin the physical analog input pin of the ethercat module

Returns:: the value read from the analog input

Definition at line 406 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::analogInputToInt	(	sr_cod_decod_std_io::AnalogInput	input_pin,
		int *	where_to_store_it
	)		`[virtual]`

Maps the value read from an analog input of the ethercat module to a double variable.

Parameters:

input_pin	the physical analog input pin of the ethercat module
where_to_store_it	a pointer to a int variable where we want to write the read value

Definition at line 412 of file cod_decod_std_io.cpp.

uint16_t sr_cod_decod::CodDecodStdIo::analogInputToUint16 ( sr_cod_decod_std_io::AnalogInput input_pin )

returns the value read from an analog input of the ethercat module

Parameters:

input_pin the physical analog input pin of the ethercat module

Returns:: the value read from the analog input

Definition at line 394 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::analogInputToUint16	(	sr_cod_decod_std_io::AnalogInput	input_pin,
		uint16_t *	where_to_store_it
	)		`[virtual]`

Maps the value read from an analog input of the ethercat module to a double variable.

Parameters:

input_pin	the physical analog input pin of the ethercat module
where_to_store_it	a pointer to a uint16 variable where we want to write the read value

Definition at line 400 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::analogOutputCommandCB ( const std_msgs::UInt16MultiArrayConstPtr & msg ) [protected]

Definition at line 291 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::boolToDigitalOutput	(	sr_cod_decod_std_io::DigitalIo	output_pin,
		bool	value
	)		`[virtual]`

Maps the sign of a double value to a digital output of the ethercat module.

Parameters:

output_pin	the physical digital I/O pin of the ethercat module
value	determines the value of the digital output

Definition at line 423 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::build_command ( unsigned char * command_buffer ) [virtual]

Builds the command for an ethercat device. It contains the output values currently contained in digital_output_ , analog_output_ and PWM_output_.

Parameters:

command_buffer a pointer to the buffer where the command will be written

Reimplemented from sr_cod_decod::CodDecod.

Definition at line 201 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::construct	(	hardware_interface::HardwareInterface *	hw,
		EtherCAT_SlaveHandler *	sh,
		int	n_digital_outputs,
		int	n_analog_outputs,
		int	n_digital_inputs,
		int	n_analog_inputs,
		int	n_PWM_outputs
	)		`[virtual]`

Reimplemented from sr_cod_decod::CodDecod.

Definition at line 50 of file cod_decod_std_io.cpp.

bool sr_cod_decod::CodDecodStdIo::digitalInputToBool ( sr_cod_decod_std_io::DigitalIo input_pin ) [virtual]

returns the value read from a digital input of the ethercat module

Parameters:

input_pin the physical digital I/O pin of the ethercat module

Returns:: the value read from the digital input

Definition at line 370 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::digitalInputToBool	(	sr_cod_decod_std_io::DigitalIo	input_pin,
		bool *	where_to_store_it
	)		`[virtual]`

Maps the value read from a digital input of the ethercat module to a bool variable.

Parameters:

input_pin	the physical digital I/O pin of the ethercat module
where_to_store_it	a pointer to a bool variable where we want to write the read value

Definition at line 376 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::digitalOutputCommandCB ( const sr_ronex_msgs::BoolArrayConstPtr & msg ) [protected]

Definition at line 273 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::doubleToAnalogOutput	(	sr_cod_decod_std_io::AnalogOutput	output_pin,
		double	value
	)		`[virtual]`

Sets an analog output using a value from a double variable.

Parameters:

output_pin	the physical analog output pin of the ethercat module
value	the value to set the output

Definition at line 437 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::doubleToPWMOutput	(	sr_cod_decod_std_io::DigitalIo	output_pin,
		uint16_t	PWM_period,
		double	PWM_ON_time
	)		`[virtual]`

Sets a PWM output using PWM_ON_time and PWM_period to determine the PWM signal form.

Parameters:

output_pin	the physical digital I/O pin of the ethercat module
PWM_period	the period of the PWM signal from 0x0000 to 0xFFFE
PWM_ON_time	the ON time of the PWM signal from 0x0000 to 0xFFFF (effectively from 0 to PWM_period+1 )

Definition at line 454 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::PWMOutputCommandCB ( const std_msgs::UInt16MultiArrayConstPtr & msg ) [protected]

Definition at line 309 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::setPinAsDigitalInput ( sr_cod_decod_std_io::DigitalIo pin ) [virtual]

Configures a digital I/O pin as digital input.

Parameters:

pin	the physical digital I/O pin of the ethercat module

Definition at line 358 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::signToDigitalOutput	(	sr_cod_decod_std_io::DigitalIo	output_pin,
		double	value
	)		`[virtual]`

Maps the sign of a double value to a digital output of the ethercat module.

Parameters:

output_pin	the physical digital I/O pin of the ethercat module
value	a number whose sign will determine the value of the digital output

Definition at line 418 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::uint16ToAnalogOutput	(	sr_cod_decod_std_io::AnalogOutput	output_pin,
		uint16_t	value
	)		`[virtual]`

Sets an analog output using a value from a uint16 variable.

Parameters:

output_pin	the physical analog output pin of the ethercat module
value	the value to set the output

Definition at line 442 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::uint16ToPWMOutput	(	sr_cod_decod_std_io::DigitalIo	output_pin,
		uint16_t	PWM_period,
		uint16_t	PWM_ON_time
	)		`[virtual]`

Sets a PWM output using PWM_ON_time and PWM_period to determine the PWM signal form.

Parameters:

output_pin	the physical digital I/O pin of the ethercat module
PWM_period	the period of the PWM signal from 0x0000 to 0xFFFE
PWM_ON_time	the ON time of the PWM signal from 0x0000 to 0xFFFF (effectively from 0 to PWM_period+1 )

Definition at line 459 of file cod_decod_std_io.cpp.

void sr_cod_decod::CodDecodStdIo::update ( unsigned char * status_buffer ) [virtual]

Reads the information from the ethercat device and decodes it. It's stored in d_in_ and a_in_;.

Parameters:

status_buffer a pointer to the buffer containing the info to read

Reimplemented from sr_cod_decod::CodDecod.

Definition at line 140 of file cod_decod_std_io.cpp.