cod_decod_std_io.hpp File Reference

This is an intermediate CodDecod class for any ethercat slave device that only has digital and analog (16bit) inputs and outputs. It decodes and encodes the status and commands, publishes the inputs of the device to a topic and reads commands from a topic to set the outputs of the device (this may be incompatible with the system functionality and will probably have to be removed). This object is not interacting in any way with the HardwareInterface. Its children (e.g. cod_decod_01) will. More...

#include "sr_ronex_drivers/cod_decod/cod_decod.hpp"
#include <sr_ronex_msgs/BoolArray.h>
#include <std_msgs/UInt16MultiArray.h>
#include "realtime_tools/realtime_box.h"
#include "realtime_tools/realtime_publisher.h"
#include <vector>

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Classes
class	sr_cod_decod::CodDecodStdIo
Namespaces
namespace	sr_cod_decod
namespace	sr_cod_decod_std_io
Enumerations
enum	sr_cod_decod_std_io::AnalogInput { sr_cod_decod_std_io::AnlogInput0, sr_cod_decod_std_io::AnlogInput1, sr_cod_decod_std_io::AnlogInput2, sr_cod_decod_std_io::AnlogInput3 }
enum	sr_cod_decod_std_io::AnalogOutput { sr_cod_decod_std_io::AnalogOutput0, sr_cod_decod_std_io::AnalogOutput1 }
enum	sr_cod_decod_std_io::DigitalIo { sr_cod_decod_std_io::DigitalIo0, sr_cod_decod_std_io::DigitalIo1, sr_cod_decod_std_io::DigitalIo2, sr_cod_decod_std_io::DigitalIo3 }

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Detailed Description

This is an intermediate CodDecod class for any ethercat slave device that only has digital and analog (16bit) inputs and outputs. It decodes and encodes the status and commands, publishes the inputs of the device to a topic and reads commands from a topic to set the outputs of the device (this may be incompatible with the system functionality and will probably have to be removed). This object is not interacting in any way with the HardwareInterface. Its children (e.g. cod_decod_01) will.

Author:

Toni Oliver <toni@shadowrobot.com>

Definition in file cod_decod_std_io.hpp.