#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.
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.
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.
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
ros::ServiceServer	reset_service_
	service that resets soft-processor
ros::ServiceServer	write_firmware_service_
	service that allows write of soft processor firmware
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 57 of file wg_soft_processor.h.

Constructor & Destructor Documentation

ethercat_hardware::WGSoftProcessor::WGSoftProcessor ( )

Definition at line 10 of file wg_soft_processor.cpp.

Member Function Documentation

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.

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.

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.

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

Definition at line 15 of file wg_soft_processor.cpp.

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.

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.

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.

bool ethercat_hardware::WGSoftProcessor::writeFirmwareCB	(	ethercat_hardware::SoftProcessorFirmwareWrite::Request &	request,
		ethercat_hardware::SoftProcessorFirmwareWrite::Response &	response
	)		`[protected]`