00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <ethercat_hardware/ek1122.h> 00036 #include <iomanip> 00037 00038 #include <ros/console.h> 00039 00040 PLUGINLIB_DECLARE_CLASS(ethercat_hardware, 73542738, EK1122, EthercatDevice); 00041 00042 void EK1122::construct(EtherCAT_SlaveHandler *sh, int &start_address) 00043 { 00044 EthercatDevice::construct(sh, start_address); 00045 sh->set_fmmu_config( new EtherCAT_FMMU_Config(0) ); 00046 sh->set_pd_config( new EtherCAT_PD_Config(0) ); 00047 } 00048 00049 EK1122::~EK1122() 00050 { 00051 delete sh_->get_fmmu_config(); 00052 delete sh_->get_pd_config(); 00053 } 00054 00055 int EK1122::initialize(pr2_hardware_interface::HardwareInterface *, bool) 00056 { 00057 ROS_DEBUG("Device #%02d: EK1122 (%#08x)", sh_->get_ring_position(), sh_->get_product_code()); 00058 return 0; 00059 } 00060 void EK1122::diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *) 00061 { 00062 stringstream str; 00063 str << "EtherCAT Device #" << setw(2) << setfill('0') << sh_->get_ring_position() << " (EK1122)"; 00064 d.name = str.str(); 00065 d.summary(0, "OK"); 00066 char serial[32]; 00067 snprintf(serial, sizeof(serial), "%d-%05d-%05d", sh_->get_product_code()/ 100000 , sh_->get_product_code() % 100000, sh_->get_serial()); 00068 d.hardware_id = serial; 00069 00070 d.clear(); 00071 d.addf("Product code", "EK1122 (%u)", sh_->get_product_code()); 00072 00073 EthercatDevice::ethercatDiagnostics(d, 4); // EK1122 has 4 ports (2 ethernet and 2 lvds) 00074 }