#include <tmc_coe_interpreter.h>

Public Member Functions
bool	commandCodingTransition (uint8_t slave_number)

uint8_t	deviceStateChange (uint8_t slave_number, nmt_state_t state)

uint8_t	getCycleCounter ()

std::string	getSlaveName (uint8_t slave_number)

uint8_t	initInterface (std::string ifname)

bool	isCycleFinished ()

bool	isInterfaceUnresponsive ()

bool	OPstate ()

void	paramTransfer (std::vector< std::vector< std::string >> all_obj_name, std::vector< std::vector< std::string >> all_index, std::vector< std::vector< std::string >> all_sub_index, std::vector< std::vector< std::string >> all_datatype)

bool	readSDO (uint8_t slave_number, std::string object_name, std::string *value)

bool	safeOPstate (std::vector< int > en_slave)

void	startCycleCounter ()

bool	statusWordState (uint8_t slave_number, fsa_state_t state)

void	stopCycleCounter ()

void	stopInterface ()

	TmcCoeInterpreter (uint8_t SDO_PDO_retries, double interface_timeout)

bool	writeSDO (uint8_t slave_number, std::string object_name, std::string *value)

	~TmcCoeInterpreter ()

Public Attributes
std::vector< input_pdo_t * >	input_pdo_

nmt_state_t	nmt_state_

std::vector< output_pdo_t * >	output_pdo_

Private Member Functions
void	errorCheck ()

void	processData ()

template<typename T >
std::string	readSDO (uint8_t slave_number, uint16_t index_number, uint16_t subindex_number, T value)

int8_t	setControlWord (uint8_t slave_number, fsa_state_t response_SW, control_word_state_t requested_CW)

template<typename T >
std::string	writeSDO (uint8_t slave_number, uint16_t index_number, uint16_t subindex_number, T value)

Private Attributes
std::vector< std::vector< std::string > >	all_datatype_

std::vector< std::vector< std::string > >	all_index_

std::vector< std::vector< std::string > >	all_obj_name_

std::vector< std::vector< std::string > >	all_sub_index_

bool	b_cycle_finished_

bool	b_exit_threads_

bool	b_interface_unresponsive_

bool	b_start_cycle_count_

uint8_t	cycle_counter_

boost::thread	error_check_thread_

double	interface_timeout_

char	IOmap [IOMAP_SIZE]

boost::thread	processdata_thread_

uint8_t	SDO_PDO_retries_

std::vector< int >	slave_

int	work_count_

Detailed Description

Definition at line 148 of file tmc_coe_interpreter.h.

Constructor & Destructor Documentation

◆ TmcCoeInterpreter()

TmcCoeInterpreter::TmcCoeInterpreter	(	uint8_t	SDO_PDO_retries,
		double	interface_timeout
	)

Definition at line 12 of file tmc_coe_interpreter.cpp.

◆ ~TmcCoeInterpreter()

TmcCoeInterpreter::~TmcCoeInterpreter ( )

Definition at line 31 of file tmc_coe_interpreter.cpp.

Member Function Documentation

◆ commandCodingTransition()

bool TmcCoeInterpreter::commandCodingTransition ( uint8_t slave_number )

Command Coding Transition

Parameters

slave_number = slave_number to which command to set

Returns: true if status word is on OPERATION_ENABLED state

Definition at line 198 of file tmc_coe_interpreter.cpp.

◆ deviceStateChange()

uint8_t TmcCoeInterpreter::deviceStateChange	(	uint8_t	slave_number,
		nmt_state_t	state
	)

Change Device State

Parameters

slave_number	= slave_number to which state to set
state	= state to change

Returns: current state in integer

Definition at line 379 of file tmc_coe_interpreter.cpp.

◆ errorCheck()

void TmcCoeInterpreter::errorCheck ( )

private

Error checking and recovery

Definition at line 754 of file tmc_coe_interpreter.cpp.

◆ getCycleCounter()

uint8_t TmcCoeInterpreter::getCycleCounter ( )

Getter for cycle_counter_ that indicates how many the cycle has been finished

Returns: cycle_counter value

Definition at line 689 of file tmc_coe_interpreter.cpp.

◆ getSlaveName()

std::string TmcCoeInterpreter::getSlaveName ( uint8_t slave_number )

Getter for Slave Name

Parameters

slave_number = slave_number to which name to get

Returns: slave name in string

Definition at line 658 of file tmc_coe_interpreter.cpp.

◆ initInterface()

uint8_t TmcCoeInterpreter::initInterface ( std::string ifname )

Initialize Ethernet Interface

Parameters

ifname = Device name, ex. "eth0"

Returns: total slave count, if 0 = fail

Definition at line 61 of file tmc_coe_interpreter.cpp.

◆ isCycleFinished()

bool TmcCoeInterpreter::isCycleFinished ( )

Getter for b_cycle_finished_ flag that indicates if processdata cyle is finished

Returns: b_cycle_finished_ status

Definition at line 679 of file tmc_coe_interpreter.cpp.

◆ isInterfaceUnresponsive()

bool TmcCoeInterpreter::isInterfaceUnresponsive ( )

Getter for b_interface_unresponsive_ flag that indicates if the master received no frames from the slave

Returns: b_interface_unresponsive_ status

Definition at line 718 of file tmc_coe_interpreter.cpp.

◆ OPstate()

bool TmcCoeInterpreter::OPstate ( )

Set Device and StatusWord to Operational State

Parameters

en_slave = vector of slaves enabled

Returns: true if success, false if not

Definition at line 145 of file tmc_coe_interpreter.cpp.

◆ paramTransfer()

void TmcCoeInterpreter::paramTransfer	(	std::vector< std::vector< std::string >>	all_obj_name,
		std::vector< std::vector< std::string >>	all_index,
		std::vector< std::vector< std::string >>	all_sub_index,
		std::vector< std::vector< std::string >>	all_datatype
	)

Initialize Ethernet Interface

Parameters

2D	vector of all obj_name, index, sub-index, and datatype

Definition at line 44 of file tmc_coe_interpreter.cpp.

◆ processData()

void TmcCoeInterpreter::processData ( )

private

Cyclic processdata

Definition at line 727 of file tmc_coe_interpreter.cpp.

◆ readSDO() [1/2]

bool TmcCoeInterpreter::readSDO	(	uint8_t	slave_number,
		std::string	object_name,
		std::string *	value
	)

Read to SDO [High Level]

Parameters

slave_number	= slave_number to which command to set
object_name	= Object Name to read
value	= will return actual value

Returns: true if read succesful, false if not

Definition at line 481 of file tmc_coe_interpreter.cpp.

◆ readSDO() [2/2]

template<typename T >

std::string TmcCoeInterpreter::readSDO	(	uint8_t	slave_number,
		uint16_t	index_number,
		uint16_t	subindex_number,
		T	value
	)

private

Read to SDO [Low Level]

Parameters

slave_number	= slave_number to which command to set
index_number	= index to read
subindex_number	= subindex to read
value	= used to set datatype of the object

Returns: actual value in string, returns empty if failed

Definition at line 860 of file tmc_coe_interpreter.cpp.

◆ safeOPstate()

bool TmcCoeInterpreter::safeOPstate ( std::vector< int > en_slave )

Set Device to Safe_Operational State, also creates Cyclic processdata

Parameters

en_slave = vector of slaves enabled

Returns: true if success, false if not

Definition at line 90 of file tmc_coe_interpreter.cpp.

◆ setControlWord()

int8_t TmcCoeInterpreter::setControlWord	(	uint8_t	slave_number,
		fsa_state_t	response_SW,
		control_word_state_t	requested_CW
	)

private

Set Control World

Parameters

slave_number	= slave_number to which command to set
response_SW	= required Status Word response
requested_CW	= requested Control Word

Returns: 0 if Status Word does not recover from FAULT, -1 if timeout is activated, 1 if successful

Definition at line 289 of file tmc_coe_interpreter.cpp.

◆ startCycleCounter()

void TmcCoeInterpreter::startCycleCounter ( )

Starts the Cycle counter

Definition at line 698 of file tmc_coe_interpreter.cpp.

◆ statusWordState()

bool TmcCoeInterpreter::statusWordState	(	uint8_t	slave_number,
		fsa_state_t	state
	)

Set statusWord to requested status

Parameters

slave_number	= slave_number to which status is set
status_	= enum of available status

Returns: true if current status is equal to set status, false if not

Definition at line 355 of file tmc_coe_interpreter.cpp.

◆ stopCycleCounter()

void TmcCoeInterpreter::stopCycleCounter ( )

Stops the Cycle counter

Definition at line 707 of file tmc_coe_interpreter.cpp.

◆ stopInterface()

void TmcCoeInterpreter::stopInterface ( )

Proper stopping of Interface

Definition at line 253 of file tmc_coe_interpreter.cpp.

◆ writeSDO() [1/2]

bool TmcCoeInterpreter::writeSDO	(	uint8_t	slave_number,
		std::string	object_name,
		std::string *	value
	)

Write to SDO [High Level]

Parameters

slave_number	= slave_number to which command to set
object_name	= Object Name to write
value	= value to set if write and returns actual value after set

Returns: true if write succesful, false if not

Definition at line 569 of file tmc_coe_interpreter.cpp.

◆ writeSDO() [2/2]

template<typename T >

std::string TmcCoeInterpreter::writeSDO	(	uint8_t	slave_number,
		uint16_t	index_number,
		uint16_t	subindex_number,
		T	value
	)

private

Read / Write to SDO [Low Level]

Parameters

slave_number	= slave_number to which command to set
index_number	= index to read / write
subindex_number	= subindex to read / write
value	= value to set, will return value if set to read

Returns: actual value in string, returns empty if failed

Definition at line 899 of file tmc_coe_interpreter.cpp.

Member Data Documentation

◆ all_datatype_

std::vector<std::vector<std::string> > TmcCoeInterpreter::all_datatype_

private

Definition at line 166 of file tmc_coe_interpreter.h.

◆ all_index_

std::vector<std::vector<std::string> > TmcCoeInterpreter::all_index_

private

Definition at line 164 of file tmc_coe_interpreter.h.

◆ all_obj_name_

std::vector<std::vector<std::string> > TmcCoeInterpreter::all_obj_name_

private

Definition at line 163 of file tmc_coe_interpreter.h.

◆ all_sub_index_

std::vector<std::vector<std::string> > TmcCoeInterpreter::all_sub_index_

private

Definition at line 165 of file tmc_coe_interpreter.h.

◆ b_cycle_finished_

bool TmcCoeInterpreter::b_cycle_finished_

private

Definition at line 172 of file tmc_coe_interpreter.h.

◆ b_exit_threads_

bool TmcCoeInterpreter::b_exit_threads_

private

Definition at line 171 of file tmc_coe_interpreter.h.

◆ b_interface_unresponsive_

bool TmcCoeInterpreter::b_interface_unresponsive_

private

Definition at line 175 of file tmc_coe_interpreter.h.

◆ b_start_cycle_count_

bool TmcCoeInterpreter::b_start_cycle_count_

private

Definition at line 173 of file tmc_coe_interpreter.h.

◆ cycle_counter_

uint8_t TmcCoeInterpreter::cycle_counter_

private

Definition at line 174 of file tmc_coe_interpreter.h.

◆ error_check_thread_

boost::thread TmcCoeInterpreter::error_check_thread_

private

Definition at line 154 of file tmc_coe_interpreter.h.

◆ input_pdo_

std::vector<input_pdo_t*> TmcCoeInterpreter::input_pdo_

Definition at line 200 of file tmc_coe_interpreter.h.

◆ interface_timeout_

double TmcCoeInterpreter::interface_timeout_

private

Definition at line 169 of file tmc_coe_interpreter.h.

◆ IOmap

char TmcCoeInterpreter::IOmap[IOMAP_SIZE]

private

Definition at line 161 of file tmc_coe_interpreter.h.

◆ nmt_state_

nmt_state_t TmcCoeInterpreter::nmt_state_

Definition at line 202 of file tmc_coe_interpreter.h.

◆ output_pdo_

std::vector<output_pdo_t*> TmcCoeInterpreter::output_pdo_

Definition at line 201 of file tmc_coe_interpreter.h.

◆ processdata_thread_

boost::thread TmcCoeInterpreter::processdata_thread_

private

Definition at line 152 of file tmc_coe_interpreter.h.

◆ SDO_PDO_retries_

uint8_t TmcCoeInterpreter::SDO_PDO_retries_

private

Definition at line 168 of file tmc_coe_interpreter.h.

◆ slave_

std::vector<int> TmcCoeInterpreter::slave_

private

Definition at line 162 of file tmc_coe_interpreter.h.

◆ work_count_

int TmcCoeInterpreter::work_count_

private

Definition at line 170 of file tmc_coe_interpreter.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TmcCoeInterpreter()

◆ ~TmcCoeInterpreter()

Member Function Documentation

◆ commandCodingTransition()

◆ deviceStateChange()

◆ errorCheck()

◆ getCycleCounter()

◆ getSlaveName()

◆ initInterface()

◆ isCycleFinished()

◆ isInterfaceUnresponsive()

◆ OPstate()

◆ paramTransfer()

◆ processData()

◆ readSDO() [1/2]

◆ readSDO() [2/2]

◆ safeOPstate()

◆ setControlWord()

◆ startCycleCounter()

◆ statusWordState()

◆ stopCycleCounter()

◆ stopInterface()

◆ writeSDO() [1/2]

◆ writeSDO() [2/2]

Member Data Documentation

◆ all_datatype_

◆ all_index_

◆ all_obj_name_

◆ all_sub_index_

◆ b_cycle_finished_

◆ b_exit_threads_

◆ b_interface_unresponsive_

◆ b_start_cycle_count_

◆ cycle_counter_

◆ error_check_thread_

◆ input_pdo_

◆ interface_timeout_

◆ IOmap

◆ nmt_state_

◆ output_pdo_

◆ processdata_thread_

◆ SDO_PDO_retries_

◆ slave_

◆ work_count_