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. More...

int	getNumClinets () const
	get the number of clients More...

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 More...

uint8_t	readInput (int slave_no, uint8_t channel) const
	Reads the "channel-th" input-register of the given slave no. More...

uint8_t	readOutput (int slave_no, uint8_t channel) const
	Reads the "channel-th" output-register of the given slave no. More...

template<typename T >
T	readSDO (int slave_no, uint16_t index, uint8_t subidx) const
	read the SDO object of the given slave no More...

void	write (int slave_no, uint8_t channel, uint8_t value)
	writes 'value' to the 'channel-th' output-register of the given 'slave' More...

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 More...

	~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

Definition at line 456 of file ethercat_manager.cpp.

Member Data Documentation

boost::thread ethercat::EtherCatManager::cycle_thread_

private

Definition at line 146 of file ethercat_manager.h.

const std::string ethercat::EtherCatManager::ifname_

private

Definition at line 143 of file ethercat_manager.h.

uint8_t ethercat::EtherCatManager::iomap_[4096]

private

Definition at line 144 of file ethercat_manager.h.

boost::mutex ethercat::EtherCatManager::iomap_mutex_

mutableprivate

Definition at line 147 of file ethercat_manager.h.

int ethercat::EtherCatManager::num_clients_

private

Definition at line 145 of file ethercat_manager.h.

bool ethercat::EtherCatManager::stop_flag_

private

Definition at line 148 of file ethercat_manager.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation