setup/RokubiminiEthercat.cpp

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// rokubimini
#include <rokubimini_ethercat/setup/RokubiminiEthercat.hpp>

namespace rokubimini
{
namespace ethercat
{
namespace setup
{
void RokubiminiEthercat::load(const std::string& rokubiminiName, NodeHandlePtr nh)
{
  Rokubimini::load(rokubiminiName, nh);
  std::string ethercat_bus_string = rokubiminiName + "/setup/ethercat_bus";
  if (nh->hasParam(ethercat_bus_string))
  {
    nh->getParam(ethercat_bus_string, ethercatBus_);
  }
  else
  {
    ROS_ERROR("Could not find ethercat bus in Parameter Server: %s", ethercat_bus_string.c_str());
  }

  std::string ethercat_address_string = rokubiminiName + "/setup/ethercat_address";
  if (nh->hasParam(ethercat_address_string))
  {
    int ethercat_address;
    nh->getParam(ethercat_address_string, ethercat_address);
    if (ethercat_address <= 0)
    {
      throw ros::Exception("The EtherCAT address is not a positive number");
    }
    ethercatAddress_ = static_cast<uint32_t>(ethercat_address);
  }
  else
  {
    ROS_ERROR("Could not find ethercat address in Parameter Server: %s", ethercat_address_string.c_str());
  }
}
}  // namespace setup
}  // namespace ethercat
}  // namespace rokubimini