#include <EthercatMasterWithoutThread.hpp>

Inheritance diagram for youbot::EthercatMasterWithoutThread:

Public Member Functions
void	AutomaticReceiveOn (const bool enableAutomaticReceive)

void	AutomaticSendOn (const bool enableAutomaticSend)

void	getEthercatDiagnosticInformation (std::vector< ec_slavet > &ethercatSlaveInfos)

unsigned int	getNumberOfSlaves () const
	return the quantity of ethercat slave which have an input/output buffer More...

bool	isErrorInSoemDriver ()

bool	isEtherCATConnectionEstablished ()

bool	isThreadActive ()

bool	receiveProcessData ()

void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)

bool	sendProcessData ()

Private Member Functions
bool	closeEthercat ()
	closes the ethercat connection More...

	EthercatMasterWithoutThread (const std::string &configFile, const std::string &configFilePath)

bool	getMailboxMsgBuffer (YouBotSlaveMailboxMsg &mailboxMsg, const unsigned int jointNumber)

void	getMsgBuffer (const unsigned int jointNumber, YouBotSlaveMsg &returnMsg)

void	initializeEthercat ()
	establishes the ethercat connection More...

void	parseYouBotErrorFlags (const YouBotSlaveMsg &messageBuffer)

bool	receiveMailboxMessage (YouBotSlaveMailboxMsg &mailboxMsg)

bool	sendMailboxMessage (const YouBotSlaveMailboxMsg &mailboxMsg)

void	setMailboxMsgBuffer (const YouBotSlaveMailboxMsg &msgBuffer, const unsigned int jointNumber)

void	setMsgBuffer (const YouBotSlaveMsg &msgBuffer, const unsigned int jointNumber)

	~EthercatMasterWithoutThread ()

Private Attributes
ConfigFile *	configfile

bool	ethercatConnectionEstablished

std::vector< SlaveMessageInput * >	ethercatInputBufferVector

std::vector< SlaveMessageOutput * >	ethercatOutputBufferVector

std::vector< ec_slavet >	ethercatSlaveInfo

unsigned int	ethercatTimeout

std::string	ethernetDevice

std::vector< YouBotSlaveMailboxMsg >	firstMailboxBufferVector

char	IOmap_ [4096]

ec_mbxbuft	mailboxBufferReceive

ec_mbxbuft	mailboxBufferSend

unsigned int	mailboxTimeout

unsigned int	nrOfSlaves

std::vector< YouBotSlaveMsg >	processDataBuffer

Static Private Attributes
static std::string	configFileName

static std::string	configFilepath

Friends
class	EthercatMaster

class	YouBotGripper

class	YouBotGripperBar

class	YouBotJoint

Additional Inherited Members
Protected Member Functions inherited from youbot::EthercatMasterInterface
	EthercatMasterInterface ()

virtual	~EthercatMasterInterface ()

Detailed Description

The Ethercat Master is managing the whole ethercat communication It have to be a singleton in the system

Definition at line 84 of file EthercatMasterWithoutThread.hpp.

Constructor & Destructor Documentation

youbot::EthercatMasterWithoutThread::EthercatMasterWithoutThread	(	const std::string &	configFile,
		const std::string &	configFilePath
	)

private

Definition at line 66 of file EthercatMasterWithoutThread.cpp.

youbot::EthercatMasterWithoutThread::~EthercatMasterWithoutThread ( )

private

Definition at line 94 of file EthercatMasterWithoutThread.cpp.

Member Function Documentation

void youbot::EthercatMasterWithoutThread::AutomaticReceiveOn ( const bool enableAutomaticReceive )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 123 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::AutomaticSendOn ( const bool enableAutomaticSend )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 115 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::closeEthercat ( )

private

closes the ethercat connection

Definition at line 344 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::getEthercatDiagnosticInformation ( std::vector< ec_slavet > & ethercatSlaveInfos )

virtual

provides all ethercat slave informations from the SOEM driver

Parameters

ethercatSlaveInfos ethercat slave informations

Implements youbot::EthercatMasterInterface.

Definition at line 132 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::getMailboxMsgBuffer	(	YouBotSlaveMailboxMsg &	mailboxMsg,
		const unsigned int	jointNumber
	)

privatevirtual

gets a mailbox message form the buffer which came form the motor controllers

Parameters

msgBuffer	ethercat mailbox message
jointNumber	joint number of the receiver joint

Implements youbot::EthercatMasterInterface.

Definition at line 398 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::getMsgBuffer	(	const unsigned int	jointNumber,
		YouBotSlaveMsg &	returnMsg
	)

privatevirtual

get a ethercat message form the buffer

Parameters

msgBuffer	ethercat message
jointNumber	joint number of the receiver joint

Implements youbot::EthercatMasterInterface.

Definition at line 375 of file EthercatMasterWithoutThread.cpp.

unsigned int youbot::EthercatMasterWithoutThread::getNumberOfSlaves ( ) const

virtual

return the quantity of ethercat slave which have an input/output buffer

Implements youbot::EthercatMasterInterface.

Definition at line 109 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::initializeEthercat ( )

private

establishes the ethercat connection

Definition at line 205 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::isErrorInSoemDriver ( )

virtual

checks if an error has occurred in the soem driver returns a true if an error has occurred

Implements youbot::EthercatMasterInterface.

Definition at line 184 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::isEtherCATConnectionEstablished ( )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 192 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::isThreadActive ( )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 102 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::parseYouBotErrorFlags ( const YouBotSlaveMsg & messageBuffer )

private

Definition at line 442 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::receiveMailboxMessage ( YouBotSlaveMailboxMsg & mailboxMsg )

private

receives mailbox messages and stores them in the buffer

Parameters

mailboxMsg ethercat mailbox message

Definition at line 428 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::receiveProcessData ( )

virtual

receives ethercat messages from the motor controllers returns a true if everything it OK and returns false if something fail

Implements youbot::EthercatMasterInterface.

Definition at line 164 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::registerJointLimitMonitor	(	JointLimitMonitor *	object,
		const unsigned int	JointNumber
	)

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 198 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::sendMailboxMessage ( const YouBotSlaveMailboxMsg & mailboxMsg )

private

sends the mailbox Messages which have been stored in the buffer

Parameters

mailboxMsg ethercat mailbox message

Definition at line 408 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::sendProcessData ( )

virtual

sends ethercat messages to the motor controllers returns a true if everything it OK and returns false if something fail

Implements youbot::EthercatMasterInterface.

Definition at line 144 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::setMailboxMsgBuffer	(	const YouBotSlaveMailboxMsg &	msgBuffer,
		const unsigned int	jointNumber
	)

privatevirtual

stores a mailbox message in a buffer which will be sent to the motor controllers

Parameters

msgBuffer	ethercat mailbox message
jointNumber	joint number of the sender joint

Implements youbot::EthercatMasterInterface.

Definition at line 386 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::setMsgBuffer	(	const YouBotSlaveMsg &	msgBuffer,
		const unsigned int	jointNumber
	)

privatevirtual

stores a ethercat message to the buffer

Parameters

msgBuffer	ethercat message
jointNumber	joint number of the sender joint

Implements youbot::EthercatMasterInterface.

Definition at line 364 of file EthercatMasterWithoutThread.cpp.

Friends And Related Function Documentation

friend class EthercatMaster

friend

Definition at line 85 of file EthercatMasterWithoutThread.hpp.

friend class YouBotGripper

friend

Definition at line 87 of file EthercatMasterWithoutThread.hpp.

friend class YouBotGripperBar

friend

Definition at line 88 of file EthercatMasterWithoutThread.hpp.

friend class YouBotJoint

friend

Definition at line 86 of file EthercatMasterWithoutThread.hpp.

Member Data Documentation

ConfigFile* youbot::EthercatMasterWithoutThread::configfile

private

Definition at line 181 of file EthercatMasterWithoutThread.hpp.

std::string youbot::EthercatMasterWithoutThread::configFileName

staticprivate

Definition at line 189 of file EthercatMasterWithoutThread.hpp.

std::string youbot::EthercatMasterWithoutThread::configFilepath

staticprivate

Definition at line 191 of file EthercatMasterWithoutThread.hpp.

bool youbot::EthercatMasterWithoutThread::ethercatConnectionEstablished

private

Definition at line 193 of file EthercatMasterWithoutThread.hpp.

std::vector<SlaveMessageInput*> youbot::EthercatMasterWithoutThread::ethercatInputBufferVector

private

Definition at line 171 of file EthercatMasterWithoutThread.hpp.

std::vector<SlaveMessageOutput*> youbot::EthercatMasterWithoutThread::ethercatOutputBufferVector

private

Definition at line 169 of file EthercatMasterWithoutThread.hpp.

std::vector<ec_slavet> youbot::EthercatMasterWithoutThread::ethercatSlaveInfo

private

Definition at line 183 of file EthercatMasterWithoutThread.hpp.

unsigned int youbot::EthercatMasterWithoutThread::ethercatTimeout

private

Definition at line 187 of file EthercatMasterWithoutThread.hpp.

std::string youbot::EthercatMasterWithoutThread::ethernetDevice

private

Definition at line 163 of file EthercatMasterWithoutThread.hpp.

std::vector<YouBotSlaveMailboxMsg> youbot::EthercatMasterWithoutThread::firstMailboxBufferVector

private

Definition at line 173 of file EthercatMasterWithoutThread.hpp.

char youbot::EthercatMasterWithoutThread::IOmap_[4096]

private

Definition at line 185 of file EthercatMasterWithoutThread.hpp.

ec_mbxbuft youbot::EthercatMasterWithoutThread::mailboxBufferReceive

private

Definition at line 179 of file EthercatMasterWithoutThread.hpp.

ec_mbxbuft youbot::EthercatMasterWithoutThread::mailboxBufferSend

private

Definition at line 175 of file EthercatMasterWithoutThread.hpp.

unsigned int youbot::EthercatMasterWithoutThread::mailboxTimeout

private

Definition at line 177 of file EthercatMasterWithoutThread.hpp.

unsigned int youbot::EthercatMasterWithoutThread::nrOfSlaves

private

Definition at line 167 of file EthercatMasterWithoutThread.hpp.

std::vector<YouBotSlaveMsg> youbot::EthercatMasterWithoutThread::processDataBuffer

private

Definition at line 165 of file EthercatMasterWithoutThread.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation