Base class for generic ethercat slaves using soem. More...

#include <EthercatSlaveBase.hpp>

Inheritance diagram for rokubimini::soem_interface::EthercatSlaveBase:

Classes
struct	PdoInfo
	Struct defining the Pdo characteristic. More...

Public Member Functions
	EthercatSlaveBase (EthercatBusBase *bus, const uint32_t address)

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

virtual PdoInfo	getCurrentPdoInfo () const =0
	Gets the current pdo information. More...

virtual std::string	getName () const =0
	Returns the name 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 void	shutdown ()=0
	Used to shutdown slave specific objects. More...

virtual bool	startup ()=0
	Startup non-ethercat specific objects for the slave. More...

virtual void	updateRead ()=0
	Called during reading the ethercat bus. Use this method to extract readings from the ethercat bus buffer. More...

virtual void	updateWrite ()=0
	Called during writing to the ethercat bus. Use this method to stage a command for the slave. More...

virtual	~EthercatSlaveBase ()=default

Protected Member Functions
void	printWarnNotImplemented ()
	Prints a warning. Use this method to suppress compiler warnings. More...

Protected Attributes
const uint32_t	address_ { 0 }

EthercatBusBase *	bus_

std::recursive_mutex	mutex_

Detailed Description

Base class for generic ethercat slaves using soem.

Definition at line 19 of file EthercatSlaveBase.hpp.

Constructor & Destructor Documentation

rokubimini::soem_interface::EthercatSlaveBase::EthercatSlaveBase	(	EthercatBusBase *	bus,
		const uint32_t	address
	)

Definition at line 9 of file EthercatSlaveBase.cpp.

virtual rokubimini::soem_interface::EthercatSlaveBase::~EthercatSlaveBase ( )

virtualdefault

Member Function Documentation

uint32_t rokubimini::soem_interface::EthercatSlaveBase::getAddress ( ) const

inline

Returns the bus address of the slave.

Returns: Bus address.

Definition at line 85 of file EthercatSlaveBase.hpp.

virtual PdoInfo rokubimini::soem_interface::EthercatSlaveBase::getCurrentPdoInfo ( ) const

pure virtual

Gets the current pdo information.

Returns: The current pdo information.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave, and soem_interface_examples::ExampleSlave.

virtual std::string rokubimini::soem_interface::EthercatSlaveBase::getName ( ) const

pure virtual

Returns the name of the slave.

Returns: Name of the ethercat bus

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave, and soem_interface_examples::ExampleSlave.

void rokubimini::soem_interface::EthercatSlaveBase::printWarnNotImplemented ( )

inlineprotected

Prints a warning. Use this method to suppress compiler warnings.

Definition at line 235 of file EthercatSlaveBase.hpp.

template<typename Value >

template bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoRead< double >	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		Value &	value
	)

Send a reading SDO.

Parameters

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

Returns: True if successful.

Definition at line 24 of file EthercatSlaveBase.cpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadDouble	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		double &	value
	)

inlinevirtual

Definition at line 161 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadFloat	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		float &	value
	)

inlinevirtual

Definition at line 156 of file EthercatSlaveBase.hpp.

bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadGeneric	(	const std::string &	indexString,
		const std::string &	subindexString,
		const std::string &	valueTypeString,
		std::string &	valueString
	)

virtual

Definition at line 74 of file EthercatSlaveBase.cpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int16_t &	value
	)

inlinevirtual

Definition at line 118 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int32_t &	value
	)

inlinevirtual

Definition at line 123 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int64_t &	value
	)

inlinevirtual

Definition at line 128 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int8_t &	value
	)

inlinevirtual

Definition at line 113 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint16_t &	value
	)

inlinevirtual

Definition at line 138 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint32_t &	value
	)

inlinevirtual

Definition at line 144 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint64_t &	value
	)

inlinevirtual

Definition at line 150 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint8_t &	value
	)

inlinevirtual

Definition at line 133 of file EthercatSlaveBase.hpp.

template<typename Value >

template bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWrite< double >	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const Value	value
	)

Send a writing SDO.

Parameters

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

Returns: True if successful.

Definition at line 15 of file EthercatSlaveBase.cpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteDouble	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const double	value
	)

inlinevirtual

Definition at line 220 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteFloat	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const float	value
	)

inlinevirtual

Definition at line 214 of file EthercatSlaveBase.hpp.

bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteGeneric	(	const std::string &	indexString,
		const std::string &	subindexString,
		const std::string &	valueTypeString,
		const std::string &	valueString
	)

virtual

Definition at line 81 of file EthercatSlaveBase.cpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int16_t	value
	)

inlinevirtual

Definition at line 172 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int32_t	value
	)

inlinevirtual

Definition at line 178 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int64_t	value
	)

inlinevirtual

Definition at line 184 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int8_t	value
	)

inlinevirtual

Definition at line 166 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint16_t	value
	)

inlinevirtual

Definition at line 196 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint32_t	value
	)

inlinevirtual

Definition at line 202 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint64_t	value
	)

inlinevirtual

Definition at line 208 of file EthercatSlaveBase.hpp.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint8_t	value
	)

inlinevirtual

Definition at line 190 of file EthercatSlaveBase.hpp.

virtual void rokubimini::soem_interface::EthercatSlaveBase::shutdown ( )

pure virtual

Used to shutdown slave specific objects.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave, and soem_interface_examples::ExampleSlave.

virtual bool rokubimini::soem_interface::EthercatSlaveBase::startup ( )

pure virtual

Startup non-ethercat specific objects for the slave.

Returns: True if succesful

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave, and soem_interface_examples::ExampleSlave.

virtual void rokubimini::soem_interface::EthercatSlaveBase::updateRead ( )

pure virtual

Called during reading the ethercat bus. Use this method to extract readings from the ethercat bus buffer.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave, and soem_interface_examples::ExampleSlave.

virtual void rokubimini::soem_interface::EthercatSlaveBase::updateWrite ( )

pure virtual

Called during writing to the ethercat bus. Use this method to stage a command for the slave.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave, and soem_interface_examples::ExampleSlave.

Member Data Documentation

const uint32_t rokubimini::soem_interface::EthercatSlaveBase::address_ { 0 }

protected

Definition at line 245 of file EthercatSlaveBase.hpp.

EthercatBusBase* rokubimini::soem_interface::EthercatSlaveBase::bus_

protected

Definition at line 243 of file EthercatSlaveBase.hpp.

std::recursive_mutex rokubimini::soem_interface::EthercatSlaveBase::mutex_

mutableprotected

Definition at line 241 of file EthercatSlaveBase.hpp.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation