#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

Enumerator
PRODUCT_CODE

Definition at line 48 of file wg014.h.

Constructor & Destructor Documentation

WG014::~WG014 ( )

Definition at line 54 of file wg014.cpp.

Member Function Documentation

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.

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.

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

virtual

Implements EthercatDevice.

Definition at line 60 of file wg014.cpp.

Member Data Documentation

uint8_t WG014::board_major_

protected

Definition at line 53 of file wg014.h.

uint8_t WG014::board_minor_

protected

Definition at line 54 of file wg014.h.

uint8_t WG014::fw_major_

protected

Definition at line 51 of file wg014.h.

uint8_t WG014::fw_minor_

protected

Definition at line 52 of file wg014.h.

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation