ek1122.cpp

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#include <ethercat_hardware/ek1122.h>
#include <iomanip>

#include <ros/console.h>

PLUGINLIB_EXPORT_CLASS(EK1122, EthercatDevice);

void EK1122::construct(EtherCAT_SlaveHandler *sh, int &start_address)
{
  EthercatDevice::construct(sh, start_address);
  sh->set_fmmu_config( new EtherCAT_FMMU_Config(0) );
  sh->set_pd_config( new EtherCAT_PD_Config(0) );
}

EK1122::~EK1122()
{
  delete sh_->get_fmmu_config();
  delete sh_->get_pd_config();
}

int EK1122::initialize(pr2_hardware_interface::HardwareInterface *, bool)
{
  ROS_DEBUG("Device #%02d: EK1122 (%#08x)", sh_->get_ring_position(), sh_->get_product_code());
  return 0;
}
void EK1122::diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
{
  stringstream str;
  str << "EtherCAT Device #" << setw(2) << setfill('0') << sh_->get_ring_position() << " (EK1122)";
  d.name = str.str();
  d.summary(0, "OK");
  char serial[32];
  snprintf(serial, sizeof(serial), "%d-%05d-%05d", sh_->get_product_code()/ 100000 , sh_->get_product_code() % 100000, sh_->get_serial());
  d.hardware_id = serial;

  d.clear();
  d.addf("Product code", "EK1122 (%u)", sh_->get_product_code());

  EthercatDevice::ethercatDiagnostics(d, 4); // EK1122 has 4 ports (2 ethernet and 2 lvds)
}