The Rokubimini Ethercat Implementation (Slave) class. More...

#include <RokubiminiEthercatSlave.hpp>

Inheritance diagram for rokubimini::ethercat::RokubiminiEthercatSlave:

Public Member Functions
bool	firmwareUpdate (const std::string &filePath, const std::string &fileName, const uint32_t &password)
	Updates the firmware of the device. More...

PdoInfo	getCurrentPdoInfo () const override
	Accessor for the current PDO info. More...

PdoTypeEnum	getCurrentPdoTypeEnum () const
	Accessor for the current PDO type. More...

bool	getForceTorqueSamplingRate (int &samplingRate)
	Gets the force torque sampling rate of the device. More...

std::string	getName () const override
	Accessor for device name. More...

void	getReading (rokubimini::Reading &reading) const
	Gets the internal reading variable. More...

bool	getSerialNumber (unsigned int &serialNumber)
	Accessor for device serial number. More...

bool	isRunning ()
	Returns if the instance is running. More...

	RokubiminiEthercatSlave ()=delete
	Default constructor is deleted. More...

	RokubiminiEthercatSlave (const std::string &name, rokubimini::soem_interface::EthercatBusBase *bus, const uint32_t address, const PdoTypeEnum pdoTypeEnum)

bool	saveConfigParameter ()
	Saves the current configuration to the device. More...

bool	setAccelerationFilter (const unsigned int filter)
	Sets an acceleration filter to the device. More...

bool	setAccelerationRange (const unsigned int range)
	Sets an acceleration range to the device. More...

bool	setAngularRateFilter (const unsigned int filter)
	Sets an angular rate filter to the device. More...

bool	setAngularRateRange (const unsigned int range)
	Sets an angular rate range to the device. More...

bool	setConfigMode ()
	Sets the device in config mode. More...

bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter)
	Sets a force torque filter to the device. More...

bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset)
	Sets a force torque offset to the device. More...

bool	setRunMode ()
	Sets the device in run mode. More...

bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration)
	Sets a sensor calibration to the device. More...

bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration)
	Sets a sensor configuration to the device. More...

void	setState (const uint16_t state)
	Sets the desired EtherCAT state machine state of the device in the bus. More...

void	shutdown () override
	Shuts down the device. More...

bool	startup () override
	This method starts up and initializes the device. More...

void	updateRead () override
	This method is called by the EthercatBusManager. Each device attached to this bus reads its data from the buffer. More...

void	updateWrite () override
	This method is called by the EthercatBusManager. Each device attached to the bus writes its data to the buffer. More...

bool	waitForState (const uint16_t state)
	Wait for an EtherCAT state machine state to be reached. More...

	~RokubiminiEthercatSlave () override=default

Public Member Functions inherited from rokubimini::soem_interface::EthercatSlaveBase
	EthercatSlaveBase (EthercatBusBase *bus, const uint32_t address)

uint32_t	getAddress () const
	Returns the bus address of the slave. More...

template<typename Value >
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, Value &value)

virtual bool	sendSdoReadDouble (const uint16_t index, const uint8_t subindex, const bool completeAccess, double &value)

virtual bool	sendSdoReadFloat (const uint16_t index, const uint8_t subindex, const bool completeAccess, float &value)

virtual bool	sendSdoReadGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, std::string &valueString)

virtual bool	sendSdoReadInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int16_t &value)

virtual bool	sendSdoReadInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int32_t &value)

virtual bool	sendSdoReadInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int64_t &value)

virtual bool	sendSdoReadInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int8_t &value)

virtual bool	sendSdoReadUInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint16_t &value)

virtual bool	sendSdoReadUInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint32_t &value)

virtual bool	sendSdoReadUInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint64_t &value)

virtual bool	sendSdoReadUInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint8_t &value)

template<typename Value >
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const Value value)

virtual bool	sendSdoWriteDouble (const uint16_t index, const uint8_t subindex, const bool completeAccess, const double value)

virtual bool	sendSdoWriteFloat (const uint16_t index, const uint8_t subindex, const bool completeAccess, const float value)

virtual bool	sendSdoWriteGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, const std::string &valueString)

virtual bool	sendSdoWriteInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int16_t value)

virtual bool	sendSdoWriteInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int32_t value)

virtual bool	sendSdoWriteInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int64_t value)

virtual bool	sendSdoWriteInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int8_t value)

virtual bool	sendSdoWriteUInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint16_t value)

virtual bool	sendSdoWriteUInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint32_t value)

virtual bool	sendSdoWriteUInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint64_t value)

virtual bool	sendSdoWriteUInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint8_t value)

virtual	~EthercatSlaveBase ()=default

Private Types
using	PdoInfos = std::map< PdoTypeEnum, PdoInfo >

Private Member Functions
bool	configurePdo (const PdoTypeEnum pdoTypeEnum)
	Configures a PDO in the Ethercat device. More...

bool	readFileToBuffer (const std::string &filePath)
	Reads the contents of a file to an internal buffer. More...

bool	sendCalibrationMatrixEntry (const uint8_t subId, const double entry)
	Sends a calibration matrix entry to device. More...

Private Attributes
std::atomic< PdoTypeEnum >	currentPdoTypeEnum_
	Current PDO type. More...

char *	fileBuffer_
	The buffer to save the contents of the file. More...

int	fileSize_
	The size of the file. More...

std::atomic< bool >	isRunning_
	Internal flag to indicate if the instance is running. More...

const std::string	name_
	Name of the sensor. More...

PdoInfos	pdoInfos_
	Map between PDO types and their infos. More...

std::atomic< PdoTypeEnum >	pdoTypeEnum_

Reading	reading_
	The internal reading variable. It's used for providing to client code the sensor readings, through the getReading () function. More...

Additional Inherited Members
Protected Member Functions inherited from rokubimini::soem_interface::EthercatSlaveBase
void	printWarnNotImplemented ()
	Prints a warning. Use this method to suppress compiler warnings. More...

Protected Attributes inherited from rokubimini::soem_interface::EthercatSlaveBase
const uint32_t	address_ { 0 }

EthercatBusBase *	bus_

std::recursive_mutex	mutex_

Detailed Description

The Rokubimini Ethercat Implementation (Slave) class.

It's the implementation in the BRIDGE pattern used. It provides the implementation to be called by the interface (RokubiminiEthercat) in order to communicate with the EtherCAT Device.

Definition at line 31 of file RokubiminiEthercatSlave.hpp.

Member Typedef Documentation

using rokubimini::ethercat::RokubiminiEthercatSlave::PdoInfos = std::map<PdoTypeEnum, PdoInfo>

private

Definition at line 400 of file RokubiminiEthercatSlave.hpp.

Constructor & Destructor Documentation

rokubimini::ethercat::RokubiminiEthercatSlave::RokubiminiEthercatSlave ( )

delete

Default constructor is deleted.

rokubimini::ethercat::RokubiminiEthercatSlave::RokubiminiEthercatSlave	(	const std::string &	name,
		rokubimini::soem_interface::EthercatBusBase *	bus,
		const uint32_t	address,
		const PdoTypeEnum	pdoTypeEnum
	)

Definition at line 16 of file RokubiminiEthercatSlave.cpp.

rokubimini::ethercat::RokubiminiEthercatSlave::~RokubiminiEthercatSlave ( )

overridedefault

Member Function Documentation

bool rokubimini::ethercat::RokubiminiEthercatSlave::configurePdo ( const PdoTypeEnum pdoTypeEnum )

private

Configures a PDO in the Ethercat device.

Parameters

pdoTypeEnum The type of the PDO.

Returns: True if the PDO was configured successfully.

Definition at line 335 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::firmwareUpdate	(	const std::string &	filePath,
		const std::string &	fileName,
		const uint32_t &	password
	)

Updates the firmware of the device.

Parameters

filePath	The path to find the firmware file
fileName	The name of the file that will be written in the slave.
password	The password for authorization.

Returns: True if the transfer (FoE) was successful.

Definition at line 393 of file RokubiminiEthercatSlave.cpp.

RokubiminiEthercatSlave::PdoInfo rokubimini::ethercat::RokubiminiEthercatSlave::getCurrentPdoInfo ( ) const

overridevirtual

Accessor for the current PDO info.

Returns: The current PDO info.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 328 of file RokubiminiEthercatSlave.cpp.

PdoTypeEnum rokubimini::ethercat::RokubiminiEthercatSlave::getCurrentPdoTypeEnum ( ) const

inline

Accessor for the current PDO type.

Returns: The current PDO type.

Definition at line 163 of file RokubiminiEthercatSlave.hpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::getForceTorqueSamplingRate ( int & samplingRate )

Gets the force torque sampling rate of the device.

Parameters

samplingRate The force torque sampling rate to be fetched.

Returns: True if the force torque sampling rate was successfully fetched.

Definition at line 99 of file RokubiminiEthercatSlave.cpp.

std::string rokubimini::ethercat::RokubiminiEthercatSlave::getName ( ) const

inlineoverridevirtual

Accessor for device name.

Returns: The name of the device.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 149 of file RokubiminiEthercatSlave.hpp.

void rokubimini::ethercat::RokubiminiEthercatSlave::getReading ( rokubimini::Reading & reading ) const

Gets the internal reading variable.

Parameters

reading The variable to store the reading.

Definition at line 297 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::getSerialNumber ( unsigned int & serialNumber )

Accessor for device serial number.

Parameters

serialNumber The serial number to get.

Returns: True if the serial number could be successfully fetched.

Definition at line 88 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::isRunning ( )

inline

Returns if the instance is running.

Returns: True if the instance is running.

Definition at line 359 of file RokubiminiEthercatSlave.hpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::readFileToBuffer ( const std::string & filePath )

private

Reads the contents of a file to an internal buffer.

Parameters

filePath The path of the file.

Returns: True if operation was successful.

Definition at line 361 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::saveConfigParameter ( )

Saves the current configuration to the device.

Returns: True if the configuration was successfully saved in the device.

Definition at line 280 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::sendCalibrationMatrixEntry	(	const uint8_t	subId,
		const double	entry
	)

private

Sends a calibration matrix entry to device.

Parameters

subId	The sub-index of the SDO to write to.
entry	The entry on the matrix.

Returns: True if the operation was successful.

Definition at line 210 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setAccelerationFilter ( const unsigned int filter )

Sets an acceleration filter to the device.

Parameters

filter The filter to be set.

Returns: True if the acceleration torque filter was successfully set.

Definition at line 132 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setAccelerationRange ( const unsigned int range )

Sets an acceleration range to the device.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

Definition at line 150 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setAngularRateFilter ( const unsigned int filter )

Sets an angular rate filter to the device.

Parameters

filter The filter to be set.

Returns: True if the angular rate filter was successfully set.

Definition at line 141 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setAngularRateRange ( const unsigned int range )

Sets an angular rate range to the device.

Parameters

range The range to be set.

Returns: True if the angular rate range was successfully set.

Definition at line 159 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setConfigMode ( )

Sets the device in config mode.

Returns: True if the operation was successful.

Definition at line 260 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

Sets a force torque filter to the device.

Parameters

filter The filter to be set.

Returns: True if the force torque filter was successfully set.

Definition at line 110 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

Sets a force torque offset to the device.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

Definition at line 168 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setRunMode ( )

Sets the device in run mode.

Returns: True if the operation was successful.

Definition at line 273 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

Sets a sensor calibration to the device.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

Definition at line 215 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

Sets a sensor configuration to the device.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

Definition at line 188 of file RokubiminiEthercatSlave.cpp.

void rokubimini::ethercat::RokubiminiEthercatSlave::setState ( const uint16_t state )

Sets the desired EtherCAT state machine state of the device in the bus.

Parameters

state Desired state.

Definition at line 316 of file RokubiminiEthercatSlave.cpp.

void rokubimini::ethercat::RokubiminiEthercatSlave::shutdown ( )

overridevirtual

Shuts down the device.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 312 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::startup ( )

overridevirtual

This method starts up and initializes the device.

Returns: True if the startup was successful.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 35 of file RokubiminiEthercatSlave.cpp.

void rokubimini::ethercat::RokubiminiEthercatSlave::updateRead ( )

overridevirtual

This method is called by the EthercatBusManager. Each device attached to this bus reads its data from the buffer.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 41 of file RokubiminiEthercatSlave.cpp.

void rokubimini::ethercat::RokubiminiEthercatSlave::updateWrite ( )

overridevirtual

This method is called by the EthercatBusManager. Each device attached to the bus writes its data to the buffer.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 303 of file RokubiminiEthercatSlave.cpp.

bool rokubimini::ethercat::RokubiminiEthercatSlave::waitForState ( const uint16_t state )

Wait for an EtherCAT state machine state to be reached.

Parameters

state Desired state.

Returns: True if the state has been reached within the timeout.

Definition at line 322 of file RokubiminiEthercatSlave.cpp.

Member Data Documentation

std::atomic< PdoTypeEnum > rokubimini::ethercat::RokubiminiEthercatSlave::currentPdoTypeEnum_

private

Current PDO type.

Definition at line 435 of file RokubiminiEthercatSlave.hpp.

char * rokubimini::ethercat::RokubiminiEthercatSlave::fileBuffer_

private

The buffer to save the contents of the file.

Definition at line 462 of file RokubiminiEthercatSlave.hpp.

int rokubimini::ethercat::RokubiminiEthercatSlave::fileSize_

private

The size of the file.

Definition at line 454 of file RokubiminiEthercatSlave.hpp.

std::atomic< bool > rokubimini::ethercat::RokubiminiEthercatSlave::isRunning_

private

Internal flag to indicate if the instance is running.

Definition at line 470 of file RokubiminiEthercatSlave.hpp.

std::string rokubimini::ethercat::RokubiminiEthercatSlave::name_

private

Name of the sensor.

Definition at line 409 of file RokubiminiEthercatSlave.hpp.

PdoInfos rokubimini::ethercat::RokubiminiEthercatSlave::pdoInfos_

private

Map between PDO types and their infos.

Definition at line 417 of file RokubiminiEthercatSlave.hpp.

std::atomic<PdoTypeEnum> rokubimini::ethercat::RokubiminiEthercatSlave::pdoTypeEnum_

private

Definition at line 426 of file RokubiminiEthercatSlave.hpp.

Reading rokubimini::ethercat::RokubiminiEthercatSlave::reading_

private

The internal reading variable. It's used for providing to client code the sensor readings, through the getReading () function.

Definition at line 446 of file RokubiminiEthercatSlave.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation