#include <ethercat_device.h>

Public Types
enum	AddrMode { FIXED_ADDR = 0, POSITIONAL_ADDR = 1 }
Public Member Functions
virtual void	collectDiagnostics (EthercatCom *com)
virtual void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device
virtual void	construct (ros::NodeHandle &nh)
virtual void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer)
	For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
	EthercatDevice ()
void	ethercatDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
	Adds diagnostic information for EtherCAT ports.
virtual int	initialize (hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true)
virtual void	multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer)
	For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
virtual void	packCommand (unsigned char *buffer, bool halt, bool reset)
virtual bool	publishTrace (const string &reason, unsigned level, unsigned delay)
	Asks device to publish (motor) trace. Only works for devices that support it.
int	readData (EthercatCom com, uint16_t address, void buffer, uint16_t length, AddrMode addrMode)
int	readWriteData (EthercatCom com, uint16_t address, void buffer, uint16_t length, AddrMode addrMode)
virtual bool	unpackState (unsigned char this_buffer, unsigned char prev_buffer)
int	writeData (EthercatCom com, uint16_t address, void const buffer, uint16_t length, AddrMode addrMode)
virtual	~EthercatDevice ()
Static Public Member Functions
static int	readData (EthercatCom com, EtherCAT_SlaveHandler sh, uint16_t address, void *buffer, uint16_t length, AddrMode addrMode=FIXED_ADDR)
	Read data from device ESC.
static int	readWriteData (EthercatCom com, EtherCAT_SlaveHandler sh, uint16_t address, void *buffer, uint16_t length, AddrMode addrMode=FIXED_ADDR)
	Read then write data to ESC.
static int	writeData (EthercatCom com, EtherCAT_SlaveHandler sh, uint16_t address, void const *buffer, uint16_t length, AddrMode addrMode=FIXED_ADDR)
	Write data to device ESC.
Public Attributes
enum EthercatDevice::AddrMode	__attribute__
unsigned int	command_size_
EthercatDeviceDiagnostics	deviceDiagnostics [2]
diagnostic_updater::DiagnosticStatusWrapper	diagnostic_status_
pthread_mutex_t	diagnosticsLock_
unsigned	newDiagnosticsIndex_
pthread_mutex_t	newDiagnosticsIndexLock_
EtherCAT_SlaveHandler *	sh_
unsigned int	status_size_
bool	use_ros_

Detailed Description

Definition at line 136 of file ethercat_device.h.

Member Enumeration Documentation

enum EthercatDevice::AddrMode

Enumerator:

FIXED_ADDR
POSITIONAL_ADDR

Definition at line 206 of file ethercat_device.h.

Constructor & Destructor Documentation

EthercatDevice::EthercatDevice ( )

Definition at line 365 of file ethercat_device.cpp.

virtual EthercatDevice::~EthercatDevice ( ) [inline, virtual]

Definition at line 148 of file ethercat_device.h.

Member Function Documentation

void EthercatDevice::collectDiagnostics ( EthercatCom * com ) [virtual]

Definition at line 389 of file ethercat_device.cpp.

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

< Construct EtherCAT device

Construct non-EtherCAT device

Definition at line 358 of file ethercat_device.cpp.

virtual void EthercatDevice::construct ( ros::NodeHandle & nh ) [inline, virtual]

Definition at line 143 of file ethercat_device.h.

void EthercatDevice::diagnostics	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned char *	buffer
	)		`[virtual]`

For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:

d	Diagnostics status wrapper.
buffer	Pointer to slave process data.

Definition at line 594 of file ethercat_device.cpp.

void EthercatDevice::ethercatDiagnostics	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned	numPorts
	)

Adds diagnostic information for EtherCAT ports.

Parameters:

d	EtherCAT port diagnostics information will be appended.
buffer	Number of communication ports slave has.

Definition at line 575 of file ethercat_device.cpp.

virtual int EthercatDevice::initialize	(	hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)		`[inline, virtual]`

Definition at line 153 of file ethercat_device.h.

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

For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:

vec	Vector of diagnostics status messages. Slave appends one or more new diagnostic status'.
buffer	Pointer to slave process data.\

Definition at line 615 of file ethercat_device.cpp.

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

Parameters:

reset	when asserted this will clear diagnostic error conditions device safety disable
halt	while asserted will disable actuator, usually by disabling H-bridge

Definition at line 161 of file ethercat_device.h.

virtual bool EthercatDevice::publishTrace	(	const string &	reason,
		unsigned	level,
		unsigned	delay
	)		`[inline, virtual]`

Asks device to publish (motor) trace. Only works for devices that support it.

Parameters:

reason	Message to put in trace as reason.
level	Level to put in trace (aka ERROR=2, WARN=1, OK=0)
delay	Publish trace after delay cyles. For 1kHz realtime loop 1cycle = 1ms.

Returns:: Return true if device support publishing trace. False, if not.

Definition at line 201 of file ethercat_device.h.

int EthercatDevice::readData	(	EthercatCom *	com,
		EtherCAT_SlaveHandler *	sh,
		uint16_t	address,
		void *	buffer,
		uint16_t	length,
		AddrMode	addrMode = `FIXED_ADDR`
	)		`[static]`

Read data from device ESC.

Definition at line 470 of file ethercat_device.cpp.

int EthercatDevice::readData	(	EthercatCom *	com,
		uint16_t	address,
		void *	buffer,
		uint16_t	length,
		AddrMode	addrMode
	)		`[inline]`

Definition at line 227 of file ethercat_device.h.

int EthercatDevice::readWriteData	(	EthercatCom *	com,
		EtherCAT_SlaveHandler *	sh,
		uint16_t	address,
		void *	buffer,
		uint16_t	length,
		AddrMode	addrMode = `FIXED_ADDR`
	)		`[static]`

Read then write data to ESC.

Definition at line 417 of file ethercat_device.cpp.

int EthercatDevice::readWriteData	(	EthercatCom *	com,
		uint16_t	address,
		void *	buffer,
		uint16_t	length,
		AddrMode	addrMode
	)		`[inline]`

Definition at line 238 of file ethercat_device.h.

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

Definition at line 164 of file ethercat_device.h.

int EthercatDevice::writeData	(	EthercatCom *	com,
		EtherCAT_SlaveHandler *	sh,
		uint16_t	address,
		void const *	buffer,
		uint16_t	length,
		AddrMode	addrMode = `FIXED_ADDR`
	)		`[static]`