Inherits from RokubiminiBusManager. It's used for managing the Ethercat buses. More...

#include <RokubiminiEthercatBusManager.hpp>

Inheritance diagram for rokubimini::ethercat::RokubiminiEthercatBusManager:

Public Types
using	BusMap = std::unordered_map< std::string, std::unique_ptr< rokubimini::soem_interface::EthercatBusBase >>

Public Member Functions
bool	addEthercatBus (rokubimini::soem_interface::EthercatBusBase *bus)
	Adds an ethercat bus to the manager. The manager takes ownership of the bus pointer. More...

bool	addEthercatBus (std::unique_ptr< rokubimini::soem_interface::EthercatBusBase > bus)
	Adds an ethercat bus to the manager. The manager takes ownership of the bus pointer. More...

bool	addRokubiminiToBus (RokubiminiEthercat rokubimini, rokubimini::soem_interface::EthercatBusBase bus, const std::shared_ptr< setup::RokubiminiEthercat > &rokubiminiEthercatSetup) const
	Adds a Rokubimini to Bus. More...

std::unique_ptr< rokubimini::soem_interface::EthercatBusBase >	extractBusByName (const std::string &name)
	Returns an owning bus pointer. The manager is now not managing this bus anymore. More...

BusMap	extractBuses ()
	Extracts all buses from the manager. The manager is now not managing any buses anymore. More...

rokubimini::soem_interface::EthercatBusBase *	getBusByName (const std::string &name) const
	Returns a non owning bus pointer. The manager still manages all the buses. More...

bool	loadSetup (std::vector< std::shared_ptr< rokubimini::Rokubimini >> &rokubiminis) override
	Loads the Rokubimini Setups. More...

void	readAllBuses () override
	Calls update read on all busses. More...

	RokubiminiEthercatBusManager ()=default

void	setBussesOperational ()
	Sets all busses to operational state. More...

void	setBussesPreOperational ()
	Sets all busses to pre operational state. More...

void	setBussesSafeOperational ()
	Sets all busses to safe operational state. More...

void	setConfigMode () override

void	setRunMode () override

void	shutdownAllBuses () override
	Calls shutdown on all busses. More...

bool	startupAllBuses ()
	Starts up all busses and puts them in operational mode. More...

bool	startupCommunication () override
	Starts up all busses. More...

void	waitForState (const uint16_t state, const uint16_t slave=0, const std::string &busName="", const unsigned int maxRetries=40, const double retrySleep=0.001)
	Waits for the slave to reach a state. More...

void	writeToAllBuses () override
	Calls update write on all busses. More...

	~RokubiminiEthercatBusManager () override=default

Public Member Functions inherited from rokubimini::RokubiminiBusManager
virtual void	addRokubiminiSetupToList (const std::shared_ptr< setup::Rokubimini > &rokubiminiSetup)

virtual bool	addRokubiminiToBus (Rokubimini *rokubimini, const std::shared_ptr< setup::Rokubimini > &rokubiminiSetup) const

std::vector< std::shared_ptr< setup::Rokubimini > >	getRokubiminiSetups ()

	RokubiminiBusManager ()

virtual	~RokubiminiBusManager ()=default

Protected Attributes
BusMap	buses_
	Map with all the Ethercat buses available. More...

std::recursive_mutex	busMutex_
	Mutex prohibiting simultaneous access to EtherCAT bus manager. More...

Protected Attributes inherited from rokubimini::RokubiminiBusManager
std::vector< std::shared_ptr< setup::Rokubimini > >	attachedRokubiminiSetups_

Detailed Description

Inherits from RokubiminiBusManager. It's used for managing the Ethercat buses.

Definition at line 32 of file RokubiminiEthercatBusManager.hpp.

Member Typedef Documentation

using rokubimini::ethercat::RokubiminiEthercatBusManager::BusMap = std::unordered_map<std::string, std::unique_ptr<rokubimini::soem_interface::EthercatBusBase>>

Definition at line 35 of file RokubiminiEthercatBusManager.hpp.

Constructor & Destructor Documentation

rokubimini::ethercat::RokubiminiEthercatBusManager::RokubiminiEthercatBusManager ( )

default

rokubimini::ethercat::RokubiminiEthercatBusManager::~RokubiminiEthercatBusManager ( )

overridedefault

Member Function Documentation

bool rokubimini::ethercat::RokubiminiEthercatBusManager::addEthercatBus ( rokubimini::soem_interface::EthercatBusBase * bus )

Adds an ethercat bus to the manager. The manager takes ownership of the bus pointer.

Parameters

bus	Raw bus ptr

Returns: True if bus has been added successfully

Definition at line 80 of file RokubiminiEthercatBusManager.cpp.

bool rokubimini::ethercat::RokubiminiEthercatBusManager::addEthercatBus ( std::unique_ptr< rokubimini::soem_interface::EthercatBusBase > bus )

Adds an ethercat bus to the manager. The manager takes ownership of the bus pointer.

Parameters

bus	Unique bus ptr

Returns: True if bus has been added successfully

Definition at line 101 of file RokubiminiEthercatBusManager.cpp.

bool rokubimini::ethercat::RokubiminiEthercatBusManager::addRokubiminiToBus	(	RokubiminiEthercat *	rokubimini,
		rokubimini::soem_interface::EthercatBusBase *	bus,
		const std::shared_ptr< setup::RokubiminiEthercat > &	rokubiminiEthercatSetup
	)		const

Adds a Rokubimini to Bus.

This method is used for adding a Rokubimini Ethercat instance to the Ethercat Bus. This method also adds the EthercatSlave pointer to the Rokubimini Ethercat implementation.

Parameters

rokubimini	The RokubiminiEthercat instance.
bus	The bus to which the RokubiminiEthercat will be attached.
rokubiminiEthercatSetup	The Rokubimini Ethercat Setup instance.

Definition at line 52 of file RokubiminiEthercatBusManager.cpp.

std::unique_ptr< rokubimini::soem_interface::EthercatBusBase > rokubimini::ethercat::RokubiminiEthercatBusManager::extractBusByName ( const std::string & name )

Returns an owning bus pointer. The manager is now not managing this bus anymore.

Parameters

[in] name The bus name

Returns: A unique_ptr to the bus.

Definition at line 218 of file RokubiminiEthercatBusManager.cpp.

RokubiminiEthercatBusManager::BusMap rokubimini::ethercat::RokubiminiEthercatBusManager::extractBuses ( )

Extracts all buses from the manager. The manager is now not managing any buses anymore.

Returns: Bus map

Definition at line 225 of file RokubiminiEthercatBusManager.cpp.

rokubimini::soem_interface::EthercatBusBase* rokubimini::ethercat::RokubiminiEthercatBusManager::getBusByName ( const std::string & name ) const

inline

Returns a non owning bus pointer. The manager still manages all the buses.

Parameters

[in] name The bus name

Returns: A shared_ptr to the bus.

Definition at line 124 of file RokubiminiEthercatBusManager.hpp.

bool rokubimini::ethercat::RokubiminiEthercatBusManager::loadSetup ( std::vector< std::shared_ptr< rokubimini::Rokubimini >> & rokubiminis )

overridevirtual

Loads the Rokubimini Setups.

This method is used for loading the Rokubimini Ethercat Setups assigned to the RokubiminiEthercatBusManager and then attaching them to the existing bus. It's given as input the vector with pointers to every rokubimini, from which the Ethercat implementation grubs the RokubiminiEthercat instances and attaches them to the bus. This is done by calling addRokubiminiToBus.

Parameters

rokubiminis The vector holding all the pointers to the existing Rokubiminis.

Todo:: Find a better way to implement this: Right now we loop through every Rokubimini instance and check if it matches with the RokubiminiSetup instance which the BusManager has in its attachedRokubiminiSetups_. After the match has been done, the Rokubimini instance is passed to addRokubiminiToBus().

Implements rokubimini::RokubiminiBusManager.

Definition at line 7 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::readAllBuses ( )

overridevirtual

Calls update read on all busses.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 190 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::setBussesOperational ( )

Sets all busses to operational state.

Definition at line 129 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::setBussesPreOperational ( )

Sets all busses to pre operational state.

Definition at line 139 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::setBussesSafeOperational ( )

Sets all busses to safe operational state.

Definition at line 149 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::setConfigMode ( )

overridevirtual

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 69 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::setRunMode ( )

overridevirtual

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 75 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::shutdownAllBuses ( )

overridevirtual

Calls shutdown on all busses.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 208 of file RokubiminiEthercatBusManager.cpp.

bool rokubimini::ethercat::RokubiminiEthercatBusManager::startupAllBuses ( )

Starts up all busses and puts them in operational mode.

Returns: True if successful

Definition at line 122 of file RokubiminiEthercatBusManager.cpp.

bool rokubimini::ethercat::RokubiminiEthercatBusManager::startupCommunication ( )

overridevirtual

Starts up all busses.

Returns: True if successful

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 176 of file RokubiminiEthercatBusManager.cpp.

void rokubimini::ethercat::RokubiminiEthercatBusManager::waitForState	(	const uint16_t	state,
		const uint16_t	slave = `0`,
		const std::string &	busName = `""`,
		const unsigned int	maxRetries = `40`,
		const double	retrySleep = `0.001`
	)

Waits for the slave to reach a state.

Parameters

[in]	state	Ethercat state
[in]	slave	Slave address, 0 = all slaves
[in]	busName	The name of the bus
[in]	maxRetries	The maximum retries
[in]	retrySleep	The retry sleep