#include <wg_soft_processor.h>

Classes
struct	Info

Public Member Functions
void	add (WGMailbox *mbx, const std::string &actuator_name, const std::string &processor_name, unsigned iram_address, unsigned ctrl_address)

bool	initialize (EthercatCom *com)

	WGSoftProcessor ()

Protected Member Functions
bool	assertReset (const Info &info, std::ostream &err_msg)
	Puts soft processor in reset. More...

const WGSoftProcessor::Info *	get (const std::string &actuator_name, const std::string &processor_name, std::ostream &err_out) const
	Get pointer to soft processor by name. Returns NULL if processor d/n exist and create message in err_out. More...

bool	readFirmwareCB (ethercat_hardware::SoftProcessorFirmwareRead::Request &request, ethercat_hardware::SoftProcessorFirmwareRead::Response &response)

bool	releaseReset (const Info &info, std::ostream &err_msg)
	Takes soft processor out of reset. More...

bool	resetCB (ethercat_hardware::SoftProcessorReset::Request &request, ethercat_hardware::SoftProcessorReset::Response &response)

bool	writeFirmwareCB (ethercat_hardware::SoftProcessorFirmwareWrite::Request &request, ethercat_hardware::SoftProcessorFirmwareWrite::Response &response)

Protected Attributes
EthercatCom *	com_

std::vector< Info >	processors_

ros::ServiceServer	read_firmware_service_
	service that allows read of soft processor firmware More...

ros::ServiceServer	reset_service_
	service that resets soft-processor More...

ros::ServiceServer	write_firmware_service_
	service that allows write of soft processor firmware More...

Static Protected Attributes
static const unsigned	IRAM_INSTRUCTION_LENGTH = 1024

Detailed Description

Certain version of WG0X device firmware use soft proccessors to perform certain tasks. For soft processors it is sometimes benificial to allow firmware to be modified to support different devices

Definition at line 89 of file wg_soft_processor.h.

Constructor & Destructor Documentation

◆ WGSoftProcessor()

ethercat_hardware::WGSoftProcessor::WGSoftProcessor ( )

Definition at line 10 of file wg_soft_processor.cpp.

Member Function Documentation

◆ add()

void ethercat_hardware::WGSoftProcessor::add	(	WGMailbox *	mbx,
		const std::string &	actuator_name,
		const std::string &	processor_name,
		unsigned	iram_address,
		unsigned	ctrl_address
	)

Definition at line 26 of file wg_soft_processor.cpp.

◆ assertReset()

bool ethercat_hardware::WGSoftProcessor::assertReset	(	const Info &	info,
		std::ostream &	err_msg
	)

protected

Puts soft processor in reset.

Definition at line 176 of file wg_soft_processor.cpp.

◆ get()

const WGSoftProcessor::Info * ethercat_hardware::WGSoftProcessor::get	(	const std::string &	actuator_name,
		const std::string &	processor_name,
		std::ostream &	err_out
	)		const

protected

Get pointer to soft processor by name. Returns NULL if processor d/n exist and create message in err_out.

Definition at line 38 of file wg_soft_processor.cpp.

◆ initialize()

bool ethercat_hardware::WGSoftProcessor::initialize ( EthercatCom * com )

Definition at line 15 of file wg_soft_processor.cpp.

◆ readFirmwareCB()

bool ethercat_hardware::WGSoftProcessor::readFirmwareCB	(	ethercat_hardware::SoftProcessorFirmwareRead::Request &	request,
		ethercat_hardware::SoftProcessorFirmwareRead::Response &	response
	)

protected

Definition at line 56 of file wg_soft_processor.cpp.

◆ releaseReset()

bool ethercat_hardware::WGSoftProcessor::releaseReset	(	const Info &	info,
		std::ostream &	err_msg
	)

protected

Takes soft processor out of reset.

Definition at line 184 of file wg_soft_processor.cpp.

◆ resetCB()

bool ethercat_hardware::WGSoftProcessor::resetCB	(	ethercat_hardware::SoftProcessorReset::Request &	request,
		ethercat_hardware::SoftProcessorReset::Response &	response
	)

protected

Definition at line 143 of file wg_soft_processor.cpp.

◆ writeFirmwareCB()

bool ethercat_hardware::WGSoftProcessor::writeFirmwareCB	(	ethercat_hardware::SoftProcessorFirmwareWrite::Request &	request,
		ethercat_hardware::SoftProcessorFirmwareWrite::Response &	response
	)

protected

Definition at line 106 of file wg_soft_processor.cpp.

Member Data Documentation

◆ com_

EthercatCom* ethercat_hardware::WGSoftProcessor::com_

protected

Definition at line 172 of file wg_soft_processor.h.

◆ IRAM_INSTRUCTION_LENGTH

const unsigned ethercat_hardware::WGSoftProcessor::IRAM_INSTRUCTION_LENGTH = 1024

staticprotected

Definition at line 148 of file wg_soft_processor.h.

◆ processors_

std::vector<Info> ethercat_hardware::WGSoftProcessor::processors_

protected

Definition at line 150 of file wg_soft_processor.h.

◆ read_firmware_service_

ros::ServiceServer ethercat_hardware::WGSoftProcessor::read_firmware_service_

protected

service that allows read of soft processor firmware

Definition at line 159 of file wg_soft_processor.h.

◆ reset_service_

ros::ServiceServer ethercat_hardware::WGSoftProcessor::reset_service_

protected

service that resets soft-processor

Definition at line 161 of file wg_soft_processor.h.

◆ write_firmware_service_

ros::ServiceServer ethercat_hardware::WGSoftProcessor::write_firmware_service_

protected

service that allows write of soft processor firmware

Definition at line 160 of file wg_soft_processor.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WGSoftProcessor()

Member Function Documentation

◆ add()

◆ assertReset()

◆ get()

◆ initialize()

◆ readFirmwareCB()

◆ releaseReset()

◆ resetCB()

◆ writeFirmwareCB()

Member Data Documentation

◆ com_

◆ IRAM_INSTRUCTION_LENGTH

◆ processors_

◆ read_firmware_service_

◆ reset_service_

◆ write_firmware_service_