#include <ethercat_device.h>

Inheritance diagram for EthercatDevice:

[legend]

Public Types
enum	AddrMode { FIXED_ADDR =0, POSITIONAL_ADDR =1 }

Public Member Functions
virtual void	collectDiagnostics (EthercatCom *com)

virtual void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device More...

virtual void	construct (ros::NodeHandle &nh)

virtual void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer)
	For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...

	EthercatDevice ()

void	ethercatDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
	Adds diagnostic information for EtherCAT ports. More...

virtual int	initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=0)=0

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 ()

Static Public Member Functions
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
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 133 of file ethercat_device.h.

Member Enumeration Documentation

◆ AddrMode

enum EthercatDevice::AddrMode

Enumerator
FIXED_ADDR
POSITIONAL_ADDR

Definition at line 189 of file ethercat_device.h.

Constructor & Destructor Documentation

◆ EthercatDevice()

EthercatDevice::EthercatDevice ( )

Definition at line 342 of file ethercat_device.cpp.

◆ ~EthercatDevice()

EthercatDevice::~EthercatDevice ( )

virtual

Definition at line 364 of file ethercat_device.cpp.

Member Function Documentation

◆ collectDiagnostics()

void EthercatDevice::collectDiagnostics ( EthercatCom * com )

virtual

Reimplemented in WG0X.

Definition at line 369 of file ethercat_device.cpp.

◆ construct() [1/2]

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

virtual

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented in WG0X, WG06, WG021, WG05, EK1122, and WG014.

Definition at line 331 of file ethercat_device.cpp.

◆ construct() [2/2]

void EthercatDevice::construct ( ros::NodeHandle & nh )

virtual

Definition at line 336 of file ethercat_device.cpp.

◆ diagnostics()

void EthercatDevice::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 in WG0X, WG021, EK1122, and WG014.

Definition at line 557 of file ethercat_device.cpp.

◆ ethercatDiagnostics()

void EthercatDevice::ethercatDiagnostics	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned	numPorts
	)

Adds diagnostic information for EtherCAT ports.

Parameters

d	EtherCAT port diagnostics information will be appended.
buffer	Number of communication ports slave has.

Definition at line 538 of file ethercat_device.cpp.

◆ initialize()

virtual int EthercatDevice::initialize	(	pr2_hardware_interface::HardwareInterface *	,
		bool	allow_unprogrammed = `0`
	)

pure virtual

Implemented in EK1122, WG014, WG0X, WG06, WG021, and WG05.

◆ multiDiagnostics()

void EthercatDevice::multiDiagnostics	(	vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		unsigned char *	buffer
	)

virtual

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

Parameters

vec	Vector of diagnostics status messages. Slave appends one or more new diagnostic status'.
buffer	Pointer to slave process data.

Reimplemented in WG06.

Definition at line 578 of file ethercat_device.cpp.

◆ packCommand()

virtual void EthercatDevice::packCommand	(	unsigned char *	buffer,
		bool	halt,
		bool	reset
	)

inlinevirtual

Parameters

reset	when asserted this will clear diagnostic error conditions device safety disable
halt	while asserted will disable actuator, usually by disabling H-bridge

Reimplemented in WG0X, WG06, WG021, and WG05.

Definition at line 151 of file ethercat_device.h.

◆ publishTrace()

virtual bool EthercatDevice::publishTrace	(	const string &	reason,
		unsigned	level,
		unsigned	delay
	)

inlinevirtual

Asks device to publish (motor) trace. Only works for devices that support it.

Parameters

reason	Message to put in trace as reason.
level	Level to put in trace (aka ERROR=2, WARN=1, OK=0)
delay	Publish trace after delay cyles. For 1kHz realtime loop 1cycle = 1ms.

Returns: Return true if device support publishing trace. False, if not.

Reimplemented in WG0X.

Definition at line 187 of file ethercat_device.h.

◆ readData() [1/2]

int EthercatDevice::readData	(	EthercatCom *	com,
		EC_UINT	address,
		void *	buffer,
		EC_UINT	length,
		AddrMode	addrMode
	)

inline

Definition at line 203 of file ethercat_device.h.

◆ readData() [2/2]

int EthercatDevice::readData	(	EthercatCom *	com,
		EtherCAT_SlaveHandler *	sh,
		EC_UINT	address,
		void *	buffer,
		EC_UINT	length,
		AddrMode	addrMode
	)

static

Read data from device ESC.

Definition at line 445 of file ethercat_device.cpp.

◆ readWriteData() [1/2]

int EthercatDevice::readWriteData	(	EthercatCom *	com,
		EC_UINT	address,
		void *	buffer,
		EC_UINT	length,
		AddrMode	addrMode
	)

inline

Definition at line 211 of file ethercat_device.h.

◆ readWriteData() [2/2]

int EthercatDevice::readWriteData	(	EthercatCom *	com,
		EtherCAT_SlaveHandler *	sh,
		EC_UINT	address,
		void *	buffer,
		EC_UINT	length,
		AddrMode	addrMode
	)

static

Read then write data to ESC.

Definition at line 398 of file ethercat_device.cpp.

◆ unpackState()

virtual bool EthercatDevice::unpackState	(	unsigned char *	this_buffer,
		unsigned char *	prev_buffer
	)

inlinevirtual

Reimplemented in WG0X, WG06, WG021, and WG05.

Definition at line 153 of file ethercat_device.h.

◆ writeData() [1/2]

int EthercatDevice::writeData	(	EthercatCom *	com,
		EC_UINT	address,
		void const *	buffer,
		EC_UINT	length,
		AddrMode	addrMode
	)

inline

Definition at line 195 of file ethercat_device.h.

◆ writeData() [2/2]

int EthercatDevice::writeData	(	EthercatCom *	com,
		EtherCAT_SlaveHandler *	sh,
		EC_UINT	address,
		void const *	buffer,
		EC_UINT	length,
		AddrMode	addrMode
	)

static

Write data to device ESC.

Definition at line 492 of file ethercat_device.cpp.

Member Data Documentation

◆ attribute

enum EthercatDevice::AddrMode EthercatDevice::__attribute__

◆ command_size_

unsigned int EthercatDevice::command_size_

Definition at line 218 of file ethercat_device.h.

◆ deviceDiagnostics

EthercatDeviceDiagnostics EthercatDevice::deviceDiagnostics[2]

Definition at line 229 of file ethercat_device.h.

◆ diagnostic_status_

diagnostic_updater::DiagnosticStatusWrapper EthercatDevice::diagnostic_status_

Definition at line 233 of file ethercat_device.h.

◆ diagnosticsLock_

pthread_mutex_t EthercatDevice::diagnosticsLock_

Definition at line 230 of file ethercat_device.h.

◆ newDiagnosticsIndex_

unsigned EthercatDevice::newDiagnosticsIndex_

Definition at line 227 of file ethercat_device.h.

◆ newDiagnosticsIndexLock_

pthread_mutex_t EthercatDevice::newDiagnosticsIndexLock_

Definition at line 228 of file ethercat_device.h.

◆ sh_

EtherCAT_SlaveHandler* EthercatDevice::sh_

Definition at line 217 of file ethercat_device.h.

◆ status_size_

unsigned int EthercatDevice::status_size_

Definition at line 219 of file ethercat_device.h.

◆ use_ros_

bool EthercatDevice::use_ros_

Definition at line 215 of file ethercat_device.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ AddrMode

Constructor & Destructor Documentation

◆ EthercatDevice()

◆ ~EthercatDevice()

Member Function Documentation

◆ collectDiagnostics()

◆ construct() [1/2]

◆ construct() [2/2]

◆ diagnostics()

◆ ethercatDiagnostics()

◆ initialize()

◆ multiDiagnostics()

◆ packCommand()

◆ publishTrace()

◆ readData() [1/2]

◆ readData() [2/2]

◆ readWriteData() [1/2]

◆ readWriteData() [2/2]

◆ unpackState()

◆ writeData() [1/2]

◆ writeData() [2/2]

Member Data Documentation

◆ __attribute__

◆ command_size_

◆ deviceDiagnostics

◆ diagnostic_status_

◆ diagnosticsLock_

◆ newDiagnosticsIndex_

◆ newDiagnosticsIndexLock_

◆ sh_

◆ status_size_

◆ use_ros_

◆ attribute