#include <ExampleSlave.hpp>

Inheritance diagram for soem_interface_examples::ExampleSlave:

Public Member Functions
	ExampleSlave (const std::string &name, rokubimini::soem_interface::EthercatBusBase *bus, const uint32_t address)

PdoInfo	getCurrentPdoInfo () const override
	Gets the current pdo information. More...

std::string	getName () const override
	Returns the name of the slave. More...

void	shutdown () override
	Used to shutdown slave specific objects. More...

bool	startup () override
	Startup non-ethercat specific objects for the slave. More...

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

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

	~ExampleSlave () 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 Attributes
RxPdo	command_

const std::string	name_

PdoInfo	pdoInfo_

TxPdo	reading_

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

Definition at line 24 of file ExampleSlave.hpp.

Constructor & Destructor Documentation

soem_interface_examples::ExampleSlave::ExampleSlave	(	const std::string &	name,
		rokubimini::soem_interface::EthercatBusBase *	bus,
		const uint32_t	address
	)

Definition at line 5 of file ExampleSlave.cpp.

soem_interface_examples::ExampleSlave::~ExampleSlave ( )

overridedefault

Member Function Documentation

PdoInfo soem_interface_examples::ExampleSlave::getCurrentPdoInfo ( ) const

inlineoverridevirtual

Gets the current pdo information.

Returns: The current pdo information.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 40 of file ExampleSlave.hpp.

std::string soem_interface_examples::ExampleSlave::getName ( ) const

inlineoverridevirtual

Returns the name of the slave.

Returns: Name of the ethercat bus

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 30 of file ExampleSlave.hpp.

void soem_interface_examples::ExampleSlave::shutdown ( )

overridevirtual

Used to shutdown slave specific objects.

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 32 of file ExampleSlave.cpp.

bool soem_interface_examples::ExampleSlave::startup ( )

overridevirtual

Startup non-ethercat specific objects for the slave.

Returns: True if succesful

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 16 of file ExampleSlave.cpp.

void soem_interface_examples::ExampleSlave::updateRead ( )

overridevirtual

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

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 22 of file ExampleSlave.cpp.

void soem_interface_examples::ExampleSlave::updateWrite ( )

overridevirtual

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

Implements rokubimini::soem_interface::EthercatSlaveBase.

Definition at line 27 of file ExampleSlave.cpp.

Member Data Documentation

RxPdo soem_interface_examples::ExampleSlave::command_

private

Definition at line 49 of file ExampleSlave.hpp.

const std::string soem_interface_examples::ExampleSlave::name_

private

Definition at line 46 of file ExampleSlave.hpp.

PdoInfo soem_interface_examples::ExampleSlave::pdoInfo_

private

Definition at line 47 of file ExampleSlave.hpp.

TxPdo soem_interface_examples::ExampleSlave::reading_

private

Definition at line 48 of file ExampleSlave.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation