This class provides a CPP interface to the SimpleOpenEthercatMaster library Given the name of an ethernet device, such as "eth0", it will connect, start a thread that cycles data around the network, and provide read/write access to the underlying io map. More...

#include <ethercat_manager.h>

Public Member Functions
	EtherCatManager (const std::string &ifname)
	Constructs and initializes the ethercat slaves on a given network interface.
int	getNumClinets () const
	get the number of clients
void	getStatus (int slave_no, std::string &name, int &eep_man, int &eep_id, int &eep_rev, int &obits, int &ibits, int &state, int &pdelay, int &hasdc, int &activeports, int &configadr) const
	get the status of clients
uint8_t	readInput (int slave_no, uint8_t channel) const
	Reads the "channel-th" input-register of the given slave no.
uint8_t	readOutput (int slave_no, uint8_t channel) const
	Reads the "channel-th" output-register of the given slave no.
template<typename T >
T	readSDO (int slave_no, uint16_t index, uint8_t subidx) const
	read the SDO object of the given slave no
void	write (int slave_no, uint8_t channel, uint8_t value)
	writes 'value' to the 'channel-th' output-register of the given 'slave'
template<typename T >
uint8_t	writeSDO (int slave_no, uint16_t index, uint8_t subidx, T value) const
	write the SDO object of the given slave no
	~EtherCatManager ()
Private Member Functions
bool	initSoem (const std::string &ifname)
Private Attributes
boost::thread	cycle_thread_
const std::string	ifname_
uint8_t	iomap_ [4096]
boost::mutex	iomap_mutex_
int	num_clients_
bool	stop_flag_

Detailed Description

This class provides a CPP interface to the SimpleOpenEthercatMaster library Given the name of an ethernet device, such as "eth0", it will connect, start a thread that cycles data around the network, and provide read/write access to the underlying io map.

Please note that as used in these docs, 'Input' and 'Output' are relative to your program. So the 'Output' registers are the ones you write to, for example.

Definition at line 65 of file ethercat_manager.h.

Constructor & Destructor Documentation

ethercat::EtherCatManager::EtherCatManager ( const std::string & ifname )

Constructs and initializes the ethercat slaves on a given network interface.

Parameters:

[in] ifname the name of the network interface that the ethercat chain is connected to (i.e. "eth0")

Constructor can throw EtherCatError exception if SOEM could not be initialized.

Definition at line 168 of file ethercat_manager.cpp.

ethercat::EtherCatManager::~EtherCatManager ( )

Definition at line 186 of file ethercat_manager.cpp.

Member Function Documentation

int ethercat::EtherCatManager::getNumClinets ( ) const

get the number of clients

Definition at line 397 of file ethercat_manager.cpp.

void ethercat::EtherCatManager::getStatus	(	int	slave_no,
		std::string &	name,
		int &	eep_man,
		int &	eep_id,
		int &	eep_rev,
		int &	obits,
		int &	ibits,
		int &	state,
		int &	pdelay,
		int &	hasdc,
		int &	activeports,
		int &	configadr
	)		const

get the status of clients

Definition at line 402 of file ethercat_manager.cpp.

bool ethercat::EtherCatManager::initSoem ( const std::string & ifname ) [private]

Definition at line 202 of file ethercat_manager.cpp.

uint8_t ethercat::EtherCatManager::readInput	(	int	slave_no,
		uint8_t	channel
	)		const

Reads the "channel-th" input-register of the given slave no.

Parameters:

[in]	slave_no	The slave number of the device to read from (>= 1)
[in]	channel	The byte offset into the input IOMap to read from

Definition at line 427 of file ethercat_manager.cpp.

uint8_t ethercat::EtherCatManager::readOutput	(	int	slave_no,
		uint8_t	channel
	)		const

Reads the "channel-th" output-register of the given slave no.

Parameters:

[in]	slave_no	The slave number of the device to read from (>= 1)
[in]	channel	The byte offset into the output IOMap to read from

Definition at line 441 of file ethercat_manager.cpp.

template<typename T >

template unsigned long ethercat::EtherCatManager::readSDO< unsigned long >	(	int	slave_no,
		uint16_t	index,
		uint8_t	subidx
	)		const

read the SDO object of the given slave no

Parameters:

[in]	slave_no	The slave number of the device to read from (>= 1)
[in]	index	The index address of the parameter in SDO object
[in]	subidx	The sub-index address of the parameter in SDO object

Definition at line 464 of file ethercat_manager.cpp.

void ethercat::EtherCatManager::write	(	int	slave_no,
		uint8_t	channel,
		uint8_t	value
	)

writes 'value' to the 'channel-th' output-register of the given 'slave'

Parameters:

[in]	slave_no	The slave number of the device to write to (>= 1)
[in]	channel	The byte offset into the output IOMap to write value to
[in]	value	The byte value to write

This method currently makes no attempt to catch out of bounds errors. Make sure you know your IOMap bounds.

Definition at line 421 of file ethercat_manager.cpp.

template<typename T >

template uint8_t ethercat::EtherCatManager::writeSDO< unsigned long >	(	int	slave_no,
		uint16_t	index,
		uint8_t	subidx,
		T	value
	)		const

write the SDO object of the given slave no

Parameters:

[in]	slave_no	The slave number of the device to read from (>= 1)
[in]	index	The index address of the parameter in SDO object
[in]	subidx	The sub-index address of the parameter in SDO object
[in]	value	value to write