ethercat_hardware.h

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#ifndef ETHERCAT_HARDWARE_H
#define ETHERCAT_HARDWARE_H

#include <hardware_interface/hardware_interface.h>

#include <ros_ethercat_eml/ethercat_AL.h>
#include <ros_ethercat_eml/ethercat_master.h>
#include <ros_ethercat_eml/ethercat_slave_handler.h>
#include <ros_ethercat_eml/ethercat_dll.h>
#include <ros_ethercat_eml/ethercat_device_addressed_telegram.h>

#include "ros_ethercat_hardware/ethercat_device.h"
#include "ros_ethercat_hardware/ethercat_com.h"
#include "ros_ethercat_hardware/ethernet_interface_info.h"

#include <realtime_tools/realtime_publisher.h>

#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/mean.hpp>

#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition_variable.hpp>

#include <pluginlib/class_loader.h>

#include <std_msgs/Bool.h>

#include <boost/regex.hpp>

using namespace boost::accumulators;

struct EthercatHardwareDiagnostics
{
  EthercatHardwareDiagnostics();
  void resetMaxTiming();
  accumulator_set<double, stats<tag::max, tag::mean> > pack_command_acc_; 
  accumulator_set<double, stats<tag::max, tag::mean> > txandrx_acc_; 
  accumulator_set<double, stats<tag::max, tag::mean> > unpack_state_acc_; 
  accumulator_set<double, stats<tag::max, tag::mean> > publish_acc_; 
  double max_pack_command_;
  double max_txandrx_;
  double max_unpack_state_;
  double max_publish_;
  int txandrx_errors_;
  unsigned device_count_;
  bool pd_error_;
  bool halt_after_reset_; 
  unsigned reset_motors_service_count_; 
  unsigned halt_motors_service_count_; 
  unsigned halt_motors_error_count_; 
  struct netif_counters counters_;
  bool input_thread_is_stopped_;
  bool motors_halted_; 
  const char* motors_halted_reason_; 

  static const bool collect_extra_timing_ = true;
};

class EthercatHardwareDiagnosticsPublisher
{
public:

  EthercatHardwareDiagnosticsPublisher(ros::NodeHandle &node);
  ~EthercatHardwareDiagnosticsPublisher();

  void initialize(const string &interface, unsigned int buffer_size,
                  const std::vector<boost::shared_ptr<EthercatDevice> > &slaves,
                  unsigned int num_ethercat_devices_,
                  unsigned timeout,
                  unsigned max_pd_retries);

  void publish(const unsigned char *buffer, const EthercatHardwareDiagnostics &diagnostics);

  void stop();

private:

  void publishDiagnostics();

  void diagnosticsThreadFunc();

  static void timingInformation(diagnostic_updater::DiagnosticStatusWrapper &status,
                                const string &key,
                                const accumulator_set<double, stats<tag::max, tag::mean> > &acc,
                                double max);

  ros::NodeHandle node_;

  boost::mutex diagnostics_mutex_; 
  boost::condition_variable diagnostics_cond_;
  bool diagnostics_ready_;
  boost::thread diagnostics_thread_;

  ros::Publisher publisher_;

  EthercatHardwareDiagnostics diagnostics_; 
  unsigned char *diagnostics_buffer_;
  unsigned int buffer_size_;
  std::vector<boost::shared_ptr<EthercatDevice> > slaves_;
  unsigned int num_ethercat_devices_;
  string interface_;

  unsigned timeout_;
  unsigned max_pd_retries_;

  uint64_t last_dropped_packet_count_;
  ros::Time last_dropped_packet_time_;
  static const unsigned dropped_packet_warning_hold_time_ = 10; //keep warning up for 10 seconds

  diagnostic_msgs::DiagnosticArray diagnostic_array_;
  EthernetInterfaceInfo ethernet_interface_info_;
  vector<diagnostic_msgs::KeyValue> values_;
  diagnostic_updater::DiagnosticStatusWrapper status_;
};

class EthercatHardware
{
public:
  static std::vector<EtherCAT_SlaveHandler> scanPort(const std::string& eth);


  EthercatHardware(const std::string& name, hardware_interface::HardwareInterface *hw,
                   const string &eth, bool allow_unprogrammed);

  ~EthercatHardware();

  void update(bool reset, bool halt);

  void init();

  void collectDiagnostics();

  void printCounters(std::ostream &os = std::cout);

  bool txandrx_PD(unsigned buffer_size, unsigned char* buffer, unsigned tries);

  bool publishTrace(int position, const string &reason, unsigned level, unsigned delay);

  hardware_interface::HardwareInterface *hw_;

  const std::vector<boost::shared_ptr<const EthercatDevice> > getSlaves() const
  {
    return std::vector<boost::shared_ptr<const EthercatDevice> >(slaves_.begin(), slaves_.end());
  }

private:
  static void changeState(EtherCAT_SlaveHandler *sh, EC_State new_state);

  void loadNonEthercatDevices();
  boost::shared_ptr<EthercatDevice> configNonEthercatDevice(const std::string &product_id,
                                                            const std::string &data);

  void haltMotors(bool error, const char* reason);

  void publishDiagnostics(); 
  static void updateAccMax(double &max, const accumulator_set<double, stats<tag::max, tag::mean> > &acc);
  boost::shared_ptr<EthercatDevice> configSlave(EtherCAT_SlaveHandler *sh);
  bool setRouterToSlaveHandlers();

  ros::NodeHandle node_;

  struct netif *ni_;

  string interface_; 

  EtherCAT_DataLinkLayer m_dll_instance_;
  EC_Logic m_logic_instance_;
  EtherCAT_PD_Buffer pd_buffer_;
  EtherCAT_AL *application_layer_;
  EtherCAT_Router *m_router_;
  EtherCAT_Master *ethercat_master_;

  std::vector<boost::shared_ptr<EthercatDevice> > slaves_;
  unsigned int num_ethercat_devices_;

  unsigned char *this_buffer_;
  unsigned char *prev_buffer_;
  unsigned char *buffers_;
  unsigned int buffer_size_;

  bool halt_motors_;
  unsigned int reset_state_;

  unsigned timeout_; 
  unsigned max_pd_retries_; 

  EthercatHardwareDiagnostics diagnostics_;
  EthercatHardwareDiagnosticsPublisher diagnostics_publisher_;
  ros::Time last_published_;
  ros::Time last_reset_;

  realtime_tools::RealtimePublisher<std_msgs::Bool> motor_publisher_;

  EthercatOobCom *oob_com_;

  pluginlib::ClassLoader<EthercatDevice> device_loader_;

  bool allow_unprogrammed_; 

  int start_address_;
};

#endif /* ETHERCAT_HARDWARE_H */