standard_ethercat_device.cpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#include <sr_ronex_drivers/standard_ethercat_device.h>

#include <sstream>
#include <iomanip>
#include <boost/foreach.hpp>

#include <math.h>

PLUGINLIB_EXPORT_CLASS(StandardEthercatDevice, EthercatDevice);

int StandardEthercatDevice::initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed)
{
  ROS_INFO("Device #%02d: Product code: %u (%#010X) , Serial #: %u (%#010X)",
            sh_->get_ring_position(),
            sh_->get_product_code(),
            sh_->get_product_code(),
            sh_->get_serial(),
            sh_->get_serial());

  device_offset_ = sh_->get_ring_position();  // - hand_->getBridgeRingPosition();

  if ((command_size_ > 0) || (status_size_ > 0))
  {
    cod_decod_manager_.reset(new sr_cod_decod::CodDecodManager(hw, sh_, n_digital_outputs, n_analog_outputs,
                                                               n_digital_inputs, n_analog_inputs, n_PWM_outputs));
  }

  return 0;
}