#include <ethercat_hardware.h>

Public Member Functions
void	collectDiagnostics ()
	Collects diagnotics from all devices. More...

	EthercatHardware (const std::string &name)
	Constructor. More...

void	init (char *interface, bool allow_unprogrammed)
	Initialize the EtherCAT Master Library. More...

void	printCounters (std::ostream &os=std::cout)

bool	publishTrace (int position, const string &reason, unsigned level, unsigned delay)
	Ask one or all EtherCAT devices to publish (motor) traces. More...

bool	txandrx_PD (unsigned buffer_size, unsigned char *buffer, unsigned tries)
	Send process data. More...

void	update (bool reset, bool halt)
	Send most recent motor commands and retrieve updates. This command must be run at a sufficient rate or else the motors will be disabled. More...

	~EthercatHardware ()
	Destructor. More...

Public Attributes
pr2_hardware_interface::HardwareInterface *	hw_

Private Member Functions
boost::shared_ptr< EthercatDevice >	configNonEthercatDevice (const std::string &product_id, const std::string &data)

boost::shared_ptr< EthercatDevice >	configSlave (EtherCAT_SlaveHandler *sh)

void	haltMotors (bool error, const char *reason)

void	loadNonEthercatDevices ()

void	publishDiagnostics ()
	Collects raw diagnostics data and passes it to diagnostics_publisher. More...

Static Private Member Functions
static void	changeState (EtherCAT_SlaveHandler *sh, EC_State new_state)

static void	updateAccMax (double &max, const accumulator_set< double, stats< tag::max, tag::mean > > &acc)

Private Attributes
EtherCAT_AL *	al_

unsigned int	buffer_size_

unsigned char *	buffers_

pluginlib::ClassLoader< EthercatDevice >	device_loader_

EthercatHardwareDiagnostics	diagnostics_

EthercatHardwareDiagnosticsPublisher	diagnostics_publisher_

EtherCAT_Master *	em_

bool	halt_motors_

string	interface_

ros::Time	last_published_

ros::Time	last_reset_

unsigned	max_pd_retries_
	Max number of times to retry sending process data before halting motors. More...

realtime_tools::RealtimePublisher< std_msgs::Bool >	motor_publisher_

struct netif *	ni_

ros::NodeHandle	node_

unsigned int	num_ethercat_devices_

EthercatOobCom *	oob_com_

unsigned char *	prev_buffer_

unsigned int	reset_state_

std::vector< boost::shared_ptr< EthercatDevice > >	slaves_

unsigned char *	this_buffer_

unsigned	timeout_
	Timeout (in microseconds) to used for sending/recieving packets once in realtime mode. More...

Detailed Description

Definition at line 209 of file ethercat_hardware.h.

Constructor & Destructor Documentation

◆ EthercatHardware()

EthercatHardware::EthercatHardware ( const std::string & name )

Constructor.

Definition at line 76 of file ethercat_hardware.cpp.

◆ ~EthercatHardware()

EthercatHardware::~EthercatHardware ( )

Destructor.

Definition at line 87 of file ethercat_hardware.cpp.

Member Function Documentation

◆ changeState()

void EthercatHardware::changeState	(	EtherCAT_SlaveHandler *	sh,
		EC_State	new_state
	)

staticprivate

Definition at line 107 of file ethercat_hardware.cpp.

◆ collectDiagnostics()

void EthercatHardware::collectDiagnostics ( )

Collects diagnotics from all devices.

Definition at line 923 of file ethercat_hardware.cpp.

◆ configNonEthercatDevice()

boost::shared_ptr< EthercatDevice > EthercatHardware::configNonEthercatDevice	(	const std::string &	product_id,
		const std::string &	data
	)

private

Definition at line 826 of file ethercat_hardware.cpp.

◆ configSlave()

boost::shared_ptr< EthercatDevice > EthercatHardware::configSlave ( EtherCAT_SlaveHandler * sh )

private

Definition at line 719 of file ethercat_hardware.cpp.

◆ haltMotors()

void EthercatHardware::haltMotors	(	bool	error,
		const char *	reason
	)

private

Definition at line 661 of file ethercat_hardware.cpp.

◆ init()

void EthercatHardware::init	(	char *	interface,
		bool	allow_unprogrammed
	)

Initialize the EtherCAT Master Library.

Parameters

interface	The socket interface that is connected to the EtherCAT devices (e.g., eth0)
allow_unprogrammed	A boolean indicating if the driver should treat the discovery of unprogrammed boards as a fatal error. Set to 'true' during board configuration, and set to 'false' otherwise.

Definition at line 124 of file ethercat_hardware.cpp.

◆ loadNonEthercatDevices()

void EthercatHardware::loadNonEthercatDevices ( )

private

Definition at line 855 of file ethercat_hardware.cpp.

◆ printCounters()

void EthercatHardware::printCounters ( std::ostream & os = std::cout )

Definition at line 958 of file ethercat_hardware.cpp.

◆ publishDiagnostics()

void EthercatHardware::publishDiagnostics ( )

private

Collects raw diagnostics data and passes it to diagnostics_publisher.

Definition at line 692 of file ethercat_hardware.cpp.

◆ publishTrace()

bool EthercatHardware::publishTrace	(	int	position,
		const string &	reason,
		unsigned	level,
		unsigned	delay
	)

Ask one or all EtherCAT devices to publish (motor) traces.

Parameters

position	device ring position to publish trace for. Use -1 to trigger all devices.
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 supports publishing trace. False, if not.
If all devices are triggered, returns true if any device publishes trace.

Definition at line 1000 of file ethercat_hardware.cpp.

◆ txandrx_PD()

bool EthercatHardware::txandrx_PD	(	unsigned	buffer_size,
		unsigned char *	buffer,
		unsigned	tries
	)

Send process data.

Definition at line 983 of file ethercat_hardware.cpp.

◆ update()

void EthercatHardware::update	(	bool	reset,
		bool	halt
	)

Send most recent motor commands and retrieve updates. This command must be run at a sufficient rate or else the motors will be disabled.

Parameters

reset	A boolean indicating if the motor controller boards should be reset
halt	A boolean indicating if the motors should be halted

Definition at line 551 of file ethercat_hardware.cpp.

◆ updateAccMax()

void EthercatHardware::updateAccMax	(	double &	max,
		const accumulator_set< double, stats< tag::max, tag::mean > > &	acc
	)

staticprivate

Definition at line 687 of file ethercat_hardware.cpp.

Member Data Documentation

◆ al_

EtherCAT_AL* EthercatHardware::al_

private

Definition at line 274 of file ethercat_hardware.h.

◆ buffer_size_

unsigned int EthercatHardware::buffer_size_

private

Definition at line 284 of file ethercat_hardware.h.

◆ buffers_

unsigned char* EthercatHardware::buffers_

private

Definition at line 283 of file ethercat_hardware.h.

◆ device_loader_

pluginlib::ClassLoader<EthercatDevice> EthercatHardware::device_loader_

private

Definition at line 303 of file ethercat_hardware.h.

◆ diagnostics_

EthercatHardwareDiagnostics EthercatHardware::diagnostics_

private

Definition at line 294 of file ethercat_hardware.h.

◆ diagnostics_publisher_

EthercatHardwareDiagnosticsPublisher EthercatHardware::diagnostics_publisher_

private

Definition at line 295 of file ethercat_hardware.h.

◆ em_

EtherCAT_Master* EthercatHardware::em_

private

Definition at line 275 of file ethercat_hardware.h.

◆ halt_motors_

bool EthercatHardware::halt_motors_

private

Definition at line 286 of file ethercat_hardware.h.

◆ hw_

pr2_hardware_interface::HardwareInterface* EthercatHardware::hw_

Definition at line 259 of file ethercat_hardware.h.

◆ interface_

string EthercatHardware::interface_

private

Definition at line 272 of file ethercat_hardware.h.

◆ last_published_

ros::Time EthercatHardware::last_published_

private

Definition at line 296 of file ethercat_hardware.h.

◆ last_reset_

ros::Time EthercatHardware::last_reset_

private

Definition at line 297 of file ethercat_hardware.h.

◆ max_pd_retries_

unsigned EthercatHardware::max_pd_retries_

private

Max number of times to retry sending process data before halting motors.

Definition at line 290 of file ethercat_hardware.h.

◆ motor_publisher_

realtime_tools::RealtimePublisher<std_msgs::Bool> EthercatHardware::motor_publisher_

private

Definition at line 299 of file ethercat_hardware.h.

◆ ni_

struct netif* EthercatHardware::ni_

private

Definition at line 271 of file ethercat_hardware.h.

◆ node_

ros::NodeHandle EthercatHardware::node_

private

Definition at line 269 of file ethercat_hardware.h.

◆ num_ethercat_devices_

unsigned int EthercatHardware::num_ethercat_devices_

private

Definition at line 279 of file ethercat_hardware.h.

◆ oob_com_

EthercatOobCom* EthercatHardware::oob_com_

private

Definition at line 301 of file ethercat_hardware.h.

◆ prev_buffer_

unsigned char* EthercatHardware::prev_buffer_

private

Definition at line 282 of file ethercat_hardware.h.

◆ reset_state_

unsigned int EthercatHardware::reset_state_

private

Definition at line 287 of file ethercat_hardware.h.

◆ slaves_

std::vector<boost::shared_ptr<EthercatDevice> > EthercatHardware::slaves_

private

Definition at line 278 of file ethercat_hardware.h.

◆ this_buffer_

unsigned char* EthercatHardware::this_buffer_

private

Definition at line 281 of file ethercat_hardware.h.

◆ timeout_

unsigned EthercatHardware::timeout_

private

Timeout (in microseconds) to used for sending/recieving packets once in realtime mode.

Definition at line 289 of file ethercat_hardware.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EthercatHardware()

◆ ~EthercatHardware()

Member Function Documentation

◆ changeState()

◆ collectDiagnostics()

◆ configNonEthercatDevice()

◆ configSlave()

◆ haltMotors()

◆ init()

◆ loadNonEthercatDevices()

◆ printCounters()

◆ publishDiagnostics()

◆ publishTrace()

◆ txandrx_PD()

◆ update()

◆ updateAccMax()

Member Data Documentation

◆ al_

◆ buffer_size_

◆ buffers_

◆ device_loader_

◆ diagnostics_

◆ diagnostics_publisher_

◆ em_

◆ halt_motors_

◆ hw_

◆ interface_

◆ last_published_

◆ last_reset_

◆ max_pd_retries_

◆ motor_publisher_

◆ ni_

◆ node_

◆ num_ethercat_devices_

◆ oob_com_

◆ prev_buffer_

◆ reset_state_

◆ slaves_

◆ this_buffer_

◆ timeout_