Class for managing an ethercat bus containing one or multiple slaves. More...

#include <EthercatBusBase.hpp>

Public Types
using	PdoSizeMap = std::unordered_map< std::string, PdoSizePair >

using	PdoSizePair = std::pair< uint16_t, uint16_t >

Public Member Functions
bool	addSlave (const EthercatSlaveBasePtr &slave)

bool	busIsAvailable () const

bool	checkForSdoErrors (const uint16_t slave, const uint16_t index)

	EthercatBusBase ()=delete

	EthercatBusBase (const std::string &name)

std::string	getErrorString (ec_errort error)

int	getExpectedWorkingCounter (const uint16_t slave=0) const

PdoSizeMap	getHardwarePdoSizes ()

PdoSizePair	getHardwarePdoSizes (const uint16_t slave)

const std::string &	getName () const

int	getNumberOfSlaves () const

const ros::Time &	getUpdateReadStamp () const

const ros::Time &	getUpdateWriteStamp () const

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

void	printALStatus (const uint16_t slave=0)
	Prints application layer status. More...

template<typename TxPdo >
void	readTxPdo (const uint16_t slave, TxPdo &txPdo) const

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

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

void	setState (const uint16_t state, const uint16_t slave=0)

void	shutdown ()

bool	startup (const bool sizeCheck=true)

void	syncDistributedClock0 (const uint16_t slave, const bool activate, const double cycleTime, const double cycleShift)

void	updateRead ()

void	updateWrite ()

bool	waitForState (const uint16_t state, const uint16_t slave=0, const unsigned int maxRetries=40, const double retrySleep=0.001)

bool	workingCounterIsOk () const

int	writeFile (const uint16_t slave, const std::string &fileName, const uint32_t &password, const int fileSize, char fileBuffer, int timeout=EC_TIMEOUTSTATE 10)

bool	writeFirmware (const uint16_t slave, const std::string &fileName, const uint32_t &password, const int fileSize, char *fileBuffer)

template<typename RxPdo >
void	writeRxPdo (const uint16_t slave, const RxPdo &rxPdo)

	~EthercatBusBase ()=default

Static Public Member Functions
static bool	busIsAvailable (const std::string &name)

static void	printAvailableBusses ()

Protected Attributes
std::recursive_mutex	contextMutex_

const unsigned int	ecatConfigMaxRetries_ { 5 }
	Maximal number of retries to configure the EtherCAT bus. More...

const double	ecatConfigRetrySleep_ { 1.0 }
	Time to sleep between the retries. More...

ecx_contextt	ecatContext_

int64	ecatDcTime_ { 0 }

ec_eringt	ecatEList_

boolean	ecatError_ { FALSE }

uint8	ecatEsiBuf_ [EC_MAXEEPBUF]

uint32	ecatEsiMap_ [EC_MAXEEPBITMAP]

ec_eepromFMMUt	ecatFmmu_

ec_groupt	ecatGrouplist_ [EC_MAXGROUP]

ec_idxstackT	ecatIdxStack_

ec_PDOassignt	ecatPdoAssign_ [EC_MAX_MAPT]

ec_PDOdesct	ecatPdoDesc_ [EC_MAX_MAPT]

ecx_portt	ecatPort_

int	ecatSlavecount_ { 0 }

ec_slavet	ecatSlavelist_ [EC_MAXSLAVE]

ec_eepromSMt	ecatSm_

ec_SMcommtypet	ecatSmCommtype_ [EC_MAX_MAPT]

char	ioMap_ [4096]

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

std::string	name_
	Name of the bus. More...

bool	sentProcessData_ { false }
	Bool indicating whether PDO data has been sent and not read yet. More...

std::vector< EthercatSlaveBasePtr >	slaves_
	List of slaves. More...

ros::Time	updateReadStamp_
	Time of the last successful PDO reading. More...

ros::Time	updateWriteStamp_
	Time of the last successful PDO writing. More...

std::atomic< int >	wkc_
	Working counter of the most recent PDO. More...

Detailed Description

Class for managing an ethercat bus containing one or multiple slaves.

Definition at line 29 of file EthercatBusBase.hpp.

Member Typedef Documentation

using rokubimini::soem_interface::EthercatBusBase::PdoSizeMap = std::unordered_map<std::string, PdoSizePair>

Definition at line 33 of file EthercatBusBase.hpp.

using rokubimini::soem_interface::EthercatBusBase::PdoSizePair = std::pair<uint16_t, uint16_t>

Definition at line 32 of file EthercatBusBase.hpp.

Constructor & Destructor Documentation

rokubimini::soem_interface::EthercatBusBase::EthercatBusBase ( )

delete

rokubimini::soem_interface::EthercatBusBase::EthercatBusBase ( const std::string & name )

explicit

Constructor.

Parameters

name	Name of the bus, e.g. "eth0".

Definition at line 7 of file EthercatBusBase.cpp.

rokubimini::soem_interface::EthercatBusBase::~EthercatBusBase ( )

default

Destructor.

Member Function Documentation

bool rokubimini::soem_interface::EthercatBusBase::addSlave ( const EthercatSlaveBasePtr & slave )

Add an EtherCAT slave. EtherCAT slave.

Returns: True if successful.

Definition at line 61 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::busIsAvailable ( const std::string & name )

static

Check if a bus is available.

Parameters

name	Name of the bus.

Returns: True if available.

Definition at line 25 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::busIsAvailable ( ) const

Check if this bus is available.

Returns: True if available.

Definition at line 50 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::checkForSdoErrors	(	const uint16_t	slave,
		const uint16_t	index
	)

Check if an error for the SDO index of the slave exists.

Parameters

slave	Address of the slave.
index	Index of the SDO.

Returns: True if an error for the index exists.

Definition at line 395 of file EthercatBusBase.cpp.

std::string rokubimini::soem_interface::EthercatBusBase::getErrorString ( ec_errort error )

Generate and return the error string.

Parameters

error EtherCAT error object.

Returns: The error string.

Definition at line 339 of file EthercatBusBase.cpp.

int rokubimini::soem_interface::EthercatBusBase::getExpectedWorkingCounter ( const uint16_t slave = 0 ) const

Get the PDO expected working counter.

Parameters

slave Address of the slave, 0 for all slaves.

Returns: Expected working counter.

Definition at line 332 of file EthercatBusBase.cpp.

EthercatBusBase::PdoSizeMap rokubimini::soem_interface::EthercatBusBase::getHardwarePdoSizes ( )

Returns a map of the actually requested PDO sizes (Rx & Tx) This is useful for slaves where the PDO size at startup is unknown This method shall be used after adding the slaves and after executing the "startup" method

Returns: std::unordered_map with the addresses and the corresponding Pdo sizes

Definition at line 433 of file EthercatBusBase.cpp.

EthercatBusBase::PdoSizePair rokubimini::soem_interface::EthercatBusBase::getHardwarePdoSizes ( const uint16_t slave )

Returns a pair with the TxPdo and RxPdo sizes for the requested address Overloads the "PdoSizeMap getHardwarePdoSizes()" method.

Parameters

slave Address of the slave

Returns: std::pair with the rx (first) and tx (second) Pdo sizes

Definition at line 445 of file EthercatBusBase.cpp.

const std::string& rokubimini::soem_interface::EthercatBusBase::getName ( ) const

inline

Get the name of the bus.

Returns: Name of the bus.

Definition at line 51 of file EthercatBusBase.hpp.

int rokubimini::soem_interface::EthercatBusBase::getNumberOfSlaves ( ) const

Get the number of slaves which were detected on this bus.

Returns: Number of slaves.

Definition at line 55 of file EthercatBusBase.cpp.

const ros::Time& rokubimini::soem_interface::EthercatBusBase::getUpdateReadStamp ( ) const

inline

Get the time of the last successful PDO reading.

Returns: Stamp.

Definition at line 60 of file EthercatBusBase.hpp.

const ros::Time& rokubimini::soem_interface::EthercatBusBase::getUpdateWriteStamp ( ) const

inline

Get the time of the last successful PDO writing.

Returns: Stamp.

Definition at line 69 of file EthercatBusBase.hpp.

bool rokubimini::soem_interface::EthercatBusBase::isRunning ( )

inline

Returns if the instance is running.

Returns: True if the instance is running.

Definition at line 342 of file EthercatBusBase.hpp.

void rokubimini::soem_interface::EthercatBusBase::printALStatus ( const uint16_t slave = 0 )

Prints application layer status.

Parameters

[in] slave Address of the slave, 0 for all slaves.

Definition at line 385 of file EthercatBusBase.cpp.

void rokubimini::soem_interface::EthercatBusBase::printAvailableBusses ( )

static

Print all available busses.

Definition at line 39 of file EthercatBusBase.cpp.

template<typename TxPdo >

void rokubimini::soem_interface::EthercatBusBase::readTxPdo	(	const uint16_t	slave,
		TxPdo &	txPdo
	)		const

inline

Read a TxPDO from the buffer.

Parameters

slave	Address of the slave.
txPdo	Return argument, TxPDO container.

Definition at line 290 of file EthercatBusBase.hpp.

template<typename Value >

bool rokubimini::soem_interface::EthercatBusBase::sendSdoRead	(	const uint16_t	slave,
		const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		Value &	value
	)

inline

Send a reading SDO.

Parameters

slave	Address of the slave.
index	Index of the SDO.
subindex	Sub-index of the SDO.
completeAccess	Access all sub-indices at once.
value	Return argument, will contain the value which was read.

Returns: True if successful.

Definition at line 241 of file EthercatBusBase.hpp.

template<typename Value >

bool rokubimini::soem_interface::EthercatBusBase::sendSdoWrite	(	const uint16_t	slave,
		const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const Value	value
	)

inline

Send a writing SDO.

Parameters

slave	Address of the slave.
index	Index of the SDO.
subindex	Sub-index of the SDO.
completeAccess	Access all sub-indices at once.
value	Value to write.

Returns: True if successful.

Definition at line 208 of file EthercatBusBase.hpp.

void rokubimini::soem_interface::EthercatBusBase::setState	(	const uint16_t	state,
		const uint16_t	slave = `0`
	)

Set the desired EtherCAT state machine state.

Parameters

state	Desired state.
slave	Address of the slave, 0 for all slaves.

Definition at line 302 of file EthercatBusBase.cpp.

void rokubimini::soem_interface::EthercatBusBase::shutdown ( )

Shutdown the bus communication.

Definition at line 276 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::startup ( const bool sizeCheck = true )

Startup the bus communication.

Parameters

sizeCheck perform a check of the Rx and Tx Pdo sizes defined in the PdoInfo oject of the slaves

Returns: True if successful.

Definition at line 78 of file EthercatBusBase.cpp.

void rokubimini::soem_interface::EthercatBusBase::syncDistributedClock0	(	const uint16_t	slave,
		const bool	activate,
		const double	cycleTime,
		const double	cycleShift
	)

Synchronize the distributed clocks.

Parameters

	slave	Address of the slave.
	activate	True to activate the distr. clock, false to deactivate.
[in]	timeStep	The time step

Definition at line 420 of file EthercatBusBase.cpp.

void rokubimini::soem_interface::EthercatBusBase::updateRead ( )

Update step 1: Read all PDOs.

Receive the EtherCAT data.

Check the working counter.

Each slave attached to this bus reads its data to the buffer.

Definition at line 220 of file EthercatBusBase.cpp.

void rokubimini::soem_interface::EthercatBusBase::updateWrite ( )

Update step 2: Write all PDOs.

Each slave attached to this bus write its data to the buffer.

Send the EtherCAT data.

Definition at line 255 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::waitForState	(	const uint16_t	state,
		const uint16_t	slave = `0`,
		const unsigned int	maxRetries = `40`,
		const double	retrySleep = `0.001`
	)

Wait for an EtherCAT state machine state to be reached.

Parameters

state	Desired state.
slave	Address of the slave, 0 for all slaves.
maxRetries	Maximum number of retries.
retrySleep	Duration to sleep between the retries.

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

Definition at line 311 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::workingCounterIsOk ( ) const

Check if the current working counter for all slaves is high enough.

Returns: True if the working counter is equal or higher than expected.

Definition at line 415 of file EthercatBusBase.cpp.

int rokubimini::soem_interface::EthercatBusBase::writeFile	(	const uint16_t	slave,
		const std::string &	fileName,
		const uint32_t &	password,
		const int	fileSize,
		char *	fileBuffer,
		int	timeout = `EC_TIMEOUTSTATE * 10`
	)

Write file via FoE. It's blocking.

Parameters

slave	Address of the slave.
filename	The name of the file that will be written in the slave.
password	The password for authorization.
fileSize	The size of the file to write.
fileBuffer	The buffer having the contents of the file.
timeout	Timeout per mailbox cycle in us, default is EC_TIMEOUTSTATE * 10

Returns: Workcounter from last slave response

Definition at line 450 of file EthercatBusBase.cpp.

bool rokubimini::soem_interface::EthercatBusBase::writeFirmware	(	const uint16_t	slave,
		const std::string &	fileName,
		const uint32_t &	password,
		const int	fileSize,
		char *	fileBuffer
	)

Writes firmware to a slave.

Parameters

slave	Address of the slave.
fileName	The name of the file that will be written in the slave.
password	The password for authorization.
fileSize	The size of the file to write.
fileBuffer	The buffer having the contents of the file.

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

Definition at line 457 of file EthercatBusBase.cpp.

template<typename RxPdo >

void rokubimini::soem_interface::EthercatBusBase::writeRxPdo	(	const uint16_t	slave,
		const RxPdo &	rxPdo
	)

inline

Write an RxPDO to the buffer.

Parameters

slave	Address of the slave.
rxPdo	RxPDO container.

Definition at line 304 of file EthercatBusBase.hpp.

Member Data Documentation

std::recursive_mutex rokubimini::soem_interface::EthercatBusBase::contextMutex_

mutableprotected

Definition at line 409 of file EthercatBusBase.hpp.

const unsigned int rokubimini::soem_interface::EthercatBusBase::ecatConfigMaxRetries_ { 5 }

protected

Maximal number of retries to configure the EtherCAT bus.

Definition at line 369 of file EthercatBusBase.hpp.

const double rokubimini::soem_interface::EthercatBusBase::ecatConfigRetrySleep_ { 1.0 }

protected

Time to sleep between the retries.

Definition at line 371 of file EthercatBusBase.hpp.

ecx_contextt rokubimini::soem_interface::EthercatBusBase::ecatContext_

protected

Initial value:

= { &ecatPort_,
                                &ecatSlavelist_[0],
                                &ecatSlavecount_,
                                EC_MAXSLAVE,
                                &ecatGrouplist_[0],
                                EC_MAXGROUP,
                                &ecatEsiBuf_[0],
                                &ecatEsiMap_[0],
                                0,
                                &ecatEList_,
                                &ecatIdxStack_,
                                &ecatError_,
                                0,
                                0,
                                &ecatDcTime_,
                                &ecatSmCommtype_[0],
                                &ecatPdoAssign_[0],
                                &ecatPdoDesc_[0],
                                &ecatSm_,
                                &ecatFmmu_,
                                nullptr }

Definition at line 413 of file EthercatBusBase.hpp.

int64 rokubimini::soem_interface::EthercatBusBase::ecatDcTime_ { 0 }

protected

Definition at line 397 of file EthercatBusBase.hpp.

ec_eringt rokubimini::soem_interface::EthercatBusBase::ecatEList_

protected

Definition at line 391 of file EthercatBusBase.hpp.

boolean rokubimini::soem_interface::EthercatBusBase::ecatError_ { FALSE }

protected

Definition at line 395 of file EthercatBusBase.hpp.

uint8 rokubimini::soem_interface::EthercatBusBase::ecatEsiBuf_[EC_MAXEEPBUF]

protected

Definition at line 387 of file EthercatBusBase.hpp.

uint32 rokubimini::soem_interface::EthercatBusBase::ecatEsiMap_[EC_MAXEEPBITMAP]

protected

Definition at line 389 of file EthercatBusBase.hpp.

ec_eepromFMMUt rokubimini::soem_interface::EthercatBusBase::ecatFmmu_

protected

Definition at line 407 of file EthercatBusBase.hpp.

ec_groupt rokubimini::soem_interface::EthercatBusBase::ecatGrouplist_[EC_MAXGROUP]

protected

Definition at line 385 of file EthercatBusBase.hpp.

ec_idxstackT rokubimini::soem_interface::EthercatBusBase::ecatIdxStack_

protected

Definition at line 393 of file EthercatBusBase.hpp.

ec_PDOassignt rokubimini::soem_interface::EthercatBusBase::ecatPdoAssign_[EC_MAX_MAPT]

protected

Definition at line 401 of file EthercatBusBase.hpp.

ec_PDOdesct rokubimini::soem_interface::EthercatBusBase::ecatPdoDesc_[EC_MAX_MAPT]

protected

Definition at line 403 of file EthercatBusBase.hpp.

ecx_portt rokubimini::soem_interface::EthercatBusBase::ecatPort_

protected

Definition at line 379 of file EthercatBusBase.hpp.

int rokubimini::soem_interface::EthercatBusBase::ecatSlavecount_ { 0 }

protected

Definition at line 383 of file EthercatBusBase.hpp.

ec_slavet rokubimini::soem_interface::EthercatBusBase::ecatSlavelist_[EC_MAXSLAVE]

protected

Definition at line 381 of file EthercatBusBase.hpp.

ec_eepromSMt rokubimini::soem_interface::EthercatBusBase::ecatSm_

protected

Definition at line 405 of file EthercatBusBase.hpp.

ec_SMcommtypet rokubimini::soem_interface::EthercatBusBase::ecatSmCommtype_[EC_MAX_MAPT]

protected

Definition at line 399 of file EthercatBusBase.hpp.

char rokubimini::soem_interface::EthercatBusBase::ioMap_[4096]

protected

Definition at line 374 of file EthercatBusBase.hpp.

std::atomic<bool> rokubimini::soem_interface::EthercatBusBase::isRunning_

protected

Internal flag to indicate if the instance is running.

Definition at line 361 of file EthercatBusBase.hpp.

std::string rokubimini::soem_interface::EthercatBusBase::name_

protected

Name of the bus.

Definition at line 349 of file EthercatBusBase.hpp.

bool rokubimini::soem_interface::EthercatBusBase::sentProcessData_ { false }

protected

Bool indicating whether PDO data has been sent and not read yet.

Definition at line 355 of file EthercatBusBase.hpp.

std::vector<EthercatSlaveBasePtr> rokubimini::soem_interface::EthercatBusBase::slaves_

protected

List of slaves.

Definition at line 352 of file EthercatBusBase.hpp.

ros::Time rokubimini::soem_interface::EthercatBusBase::updateReadStamp_

protected

Time of the last successful PDO reading.

Definition at line 364 of file EthercatBusBase.hpp.

ros::Time rokubimini::soem_interface::EthercatBusBase::updateWriteStamp_

protected

Time of the last successful PDO writing.

Definition at line 366 of file EthercatBusBase.hpp.

std::atomic<int> rokubimini::soem_interface::EthercatBusBase::wkc_

protected

Working counter of the most recent PDO.

Definition at line 358 of file EthercatBusBase.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation