WG014 Class Reference

#include <wg014.h>

Inheritance diagram for WG014:

Public Types
enum	{ PRODUCT_CODE = 6805014 }
Public Types inherited from EthercatDevice
enum	AddrMode { FIXED_ADDR =0, POSITIONAL_ADDR =1 }

Public Member Functions
void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device More...
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
	For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...
int	initialize (pr2_hardware_interface::HardwareInterface *, bool)
	~WG014 ()
Public Member Functions inherited from EthercatDevice
virtual void	collectDiagnostics (EthercatCom *com)
virtual void	construct (ros::NodeHandle &nh)
	EthercatDevice ()
void	ethercatDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
	Adds diagnostic information for EtherCAT ports. More...
virtual void	multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer)
	For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...
virtual void	packCommand (unsigned char *buffer, bool halt, bool reset)
virtual bool	publishTrace (const string &reason, unsigned level, unsigned delay)
	Asks device to publish (motor) trace. Only works for devices that support it. More...
int	readData (EthercatCom *com, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
int	readWriteData (EthercatCom *com, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
virtual bool	unpackState (unsigned char *this_buffer, unsigned char *prev_buffer)
int	writeData (EthercatCom *com, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode)
virtual	~EthercatDevice ()

Protected Attributes
uint8_t	board_major_
uint8_t	board_minor_
uint8_t	fw_major_
uint8_t	fw_minor_

Additional Inherited Members
Static Public Member Functions inherited from EthercatDevice
static int	readData (EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
	Read data from device ESC. More...
static int	readWriteData (EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
	Read then write data to ESC. More...
static int	writeData (EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode)
	Write data to device ESC. More...
Public Attributes inherited from EthercatDevice
enum EthercatDevice::AddrMode	__attribute__
unsigned int	command_size_
EthercatDeviceDiagnostics	deviceDiagnostics [2]
diagnostic_updater::DiagnosticStatusWrapper	diagnostic_status_
pthread_mutex_t	diagnosticsLock_
unsigned	newDiagnosticsIndex_
pthread_mutex_t	newDiagnosticsIndexLock_
EtherCAT_SlaveHandler *	sh_
unsigned int	status_size_
bool	use_ros_

Detailed Description

Definition at line 40 of file wg014.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
PRODUCT_CODE

Definition at line 80 of file wg014.h.

Constructor & Destructor Documentation

~WG014()

WG014::~WG014

(

)

Definition at line 54 of file wg014.cpp.

Member Function Documentation

construct()

void WG014::construct ( EtherCAT_SlaveHandler *  sh, int &  start_address  )

virtual

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from EthercatDevice.

Definition at line 42 of file wg014.cpp.

diagnostics()

void WG014::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  d, unsigned char *  buffer  )

virtual

For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters

d	Diagnostics status wrapper.
buffer	Pointer to slave process data.

Reimplemented from EthercatDevice.

Definition at line 66 of file wg014.cpp.

initialize()

int WG014::initialize ( pr2_hardware_interface::HardwareInterface *  , bool    )

virtual

Implements EthercatDevice.

Definition at line 60 of file wg014.cpp.

Member Data Documentation

board_major_

uint8_t WG014::board_major_

protected

Definition at line 85 of file wg014.h.

board_minor_

uint8_t WG014::board_minor_

protected

Definition at line 86 of file wg014.h.

fw_major_

uint8_t WG014::fw_major_

protected

Definition at line 83 of file wg014.h.

fw_minor_

uint8_t WG014::fw_minor_

protected

Definition at line 84 of file wg014.h.

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

• wg014.h
• wg014.cpp