EthercatMasterWithThread.cpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
extern "C"
{
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/nicdrv.h>
#include <youbot_driver/soem/ethercatbase.h>
#include <youbot_driver/soem/ethercatmain.h>
#include <youbot_driver/soem/ethercatconfig.h>
#include <youbot_driver/soem/ethercatcoe.h>
#include <youbot_driver/soem/ethercatdc.h>
#include <youbot_driver/soem/ethercatprint.h>
}
#include <youbot_driver/youbot/EthercatMasterWithThread.hpp>
#include <youbot_driver/youbot/DataTrace.hpp>

namespace youbot
{

EthercatMasterWithThread::EthercatMasterWithThread(const std::string& configFile, const std::string& configFilePath)
{
  // Bouml preserved body begin 00041171

  this->ethercatConnectionEstablished = false;
  ethernetDevice = "eth0";
  timeTillNextEthercatUpdate = 1000; //usec
  mailboxTimeout = 4000; //micro sec
  ethercatTimeout = 500; //micro sec
  communicationErrors = 0;
  maxCommunicationErrors = 100;
  stopThread = false;
  this->automaticSendOn = true;
  this->automaticReceiveOn = true;
  this->configFileName = configFile;
  this->configFilepath = configFilePath;
  configfile = NULL;

  //initialize to zero
  for (unsigned int i = 0; i < 4096; i++)
  {
    IOmap_[i] = 0;
  }
  //read ethercat parameters form config file
  configfile = new ConfigFile(this->configFileName, this->configFilepath);

  // configfile.setSection("EtherCAT");
  configfile->readInto(ethernetDevice, "EtherCAT", "EthernetDevice");
  configfile->readInto(timeTillNextEthercatUpdate, "EtherCAT", "EtherCATUpdateRate_[usec]");
  configfile->readInto(ethercatTimeout, "EtherCAT", "EtherCATTimeout_[usec]");
  configfile->readInto(mailboxTimeout, "EtherCAT", "MailboxTimeout_[usec]");
  configfile->readInto(maxCommunicationErrors, "EtherCAT", "MaximumNumberOfEtherCATErrors");

  this->initializeEthercat();

  // Bouml preserved body end 00041171
}

EthercatMasterWithThread::~EthercatMasterWithThread()
{
  // Bouml preserved body begin 000411F1
  stopThread = true;
  threads.join_all();
  this->closeEthercat();
  if (configfile != NULL)
    delete configfile;
  // Bouml preserved body end 000411F1
}

bool EthercatMasterWithThread::isThreadActive()
{
  // Bouml preserved body begin 000E6AF1
  return true;
  // Bouml preserved body end 000E6AF1
}

unsigned int EthercatMasterWithThread::getNumberOfSlaves() const
{
  // Bouml preserved body begin 00044A71
  return this->nrOfSlaves;
  // Bouml preserved body end 00044A71
}

void EthercatMasterWithThread::AutomaticSendOn(const bool enableAutomaticSend)
{
  // Bouml preserved body begin 000775F1
  this->automaticSendOn = enableAutomaticSend;

  if (this->automaticSendOn == true)
  {
    unsigned int slaveNo = 0;

    for (unsigned int i = 0; i < automaticSendOffBufferVector.size(); i++)
    {
      slaveNo = automaticSendOffBufferVector[i].jointNumber - 1;
      slaveMessages[slaveNo].stctInput.Set(automaticSendOffBufferVector[i].stctInput);
      slaveMessages[slaveNo].stctOutput.Set(automaticSendOffBufferVector[i].stctOutput);
      slaveMessages[slaveNo].jointNumber.Set(automaticSendOffBufferVector[i].jointNumber);
    }

    automaticSendOffBufferVector.clear();
  }
  else
  {
    return;
  }
  return;
  // Bouml preserved body end 000775F1
}

void EthercatMasterWithThread::AutomaticReceiveOn(const bool enableAutomaticReceive)
{
  // Bouml preserved body begin 0008FB71
  this->automaticReceiveOn = enableAutomaticReceive;

  if (this->automaticReceiveOn == false)
  {

    for (unsigned int i = 0; i < slaveMessages.size(); i++)
    {
      slaveMessages[i].stctInput.Get(automaticReceiveOffBufferVector[i].stctInput);
      slaveMessages[i].stctOutput.Get(automaticReceiveOffBufferVector[i].stctOutput);
      slaveMessages[i].jointNumber.Get(automaticReceiveOffBufferVector[i].jointNumber);
    }
  }

  return;
  // Bouml preserved body end 0008FB71
}

void EthercatMasterWithThread::getEthercatDiagnosticInformation(std::vector<ec_slavet>& ethercatSlaveInfos)
{
  // Bouml preserved body begin 00061EF1
  ethercatSlaveInfos = this->ethercatSlaveInfo;
  for (unsigned int i = 0; i < ethercatSlaveInfos.size(); i++)
  {
    ethercatSlaveInfos[i].inputs = NULL;
    ethercatSlaveInfos[i].outputs = NULL;
  }
  // Bouml preserved body end 00061EF1
}

bool EthercatMasterWithThread::sendProcessData()
{
  // Bouml preserved body begin 000E68F1
  throw std::runtime_error("When using the EthercatMaster with thread there is not need to send process data manual.");
  return false;
  // Bouml preserved body end 000E68F1
}

bool EthercatMasterWithThread::receiveProcessData()
{
  // Bouml preserved body begin 000E6971
  throw std::runtime_error(
      "When using the EthercatMaster with thread there is not need to receive process data manual");
  return false;
  // Bouml preserved body end 000E6971
}

bool EthercatMasterWithThread::isErrorInSoemDriver()
{
  // Bouml preserved body begin 000E69F1

  return ec_iserror();

  // Bouml preserved body end 000E69F1
}

void EthercatMasterWithThread::registerJointTrajectoryController(JointTrajectoryController* object,
                                                                 const unsigned int JointNumber)
{
  // Bouml preserved body begin 000EBCF1
  {
    boost::mutex::scoped_lock trajectoryControllerMutex(trajectoryControllerVectorMutex);
    if (this->trajectoryControllers[JointNumber - 1] != NULL)
      throw std::runtime_error("A joint trajectory controller is already register for this joint!");
    if ((JointNumber - 1) >= this->trajectoryControllers.size())
      throw std::out_of_range("Invalid joint number");

    this->trajectoryControllers[JointNumber - 1] = object;
  }
  LOG(debug) << "register joint trajectory controller for joint: " << JointNumber;
  // Bouml preserved body end 000EBCF1
}

void EthercatMasterWithThread::deleteJointTrajectoryControllerRegistration(const unsigned int JointNumber)
{
  // Bouml preserved body begin 000F06F1
  {
    boost::mutex::scoped_lock trajectoryControllerMutex(trajectoryControllerVectorMutex);
    if ((JointNumber - 1) >= this->trajectoryControllers.size())
      throw std::out_of_range("Invalid joint number");

    this->trajectoryControllers[JointNumber - 1] = NULL;
  }
  LOG(debug) << "delete joint trajectory controller registration for joint: " << JointNumber;
  // Bouml preserved body end 000F06F1
}

unsigned int EthercatMasterWithThread::getNumberOfThreadCyclesPerSecond()
{
  // Bouml preserved body begin 000F41F1

  return static_cast<unsigned int>(1.0 / ((double)timeTillNextEthercatUpdate / 1000 / 1000));
  // Bouml preserved body end 000F41F1
}

bool EthercatMasterWithThread::isEtherCATConnectionEstablished()
{
  // Bouml preserved body begin 000F7771
  return this->ethercatConnectionEstablished;
  // Bouml preserved body end 000F7771
}

void EthercatMasterWithThread::registerJointLimitMonitor(JointLimitMonitor* object, const unsigned int JointNumber)
{
  // Bouml preserved body begin 000FB071
  {
    boost::mutex::scoped_lock limitMonitorMutex(jointLimitMonitorVectorMutex);
    if (this->jointLimitMonitors[JointNumber - 1] != NULL)
      LOG(warning) << "A joint limit monitor is already register for this joint!";
    if ((JointNumber - 1) >= this->jointLimitMonitors.size())
      throw std::out_of_range("Invalid joint number");

    this->jointLimitMonitors[JointNumber - 1] = object;
  }
  LOG(debug) << "register a joint limit monitor for joint: " << JointNumber;
  // Bouml preserved body end 000FB071
}

void EthercatMasterWithThread::registerDataTrace(void* object, const unsigned int JointNumber)
{
  // Bouml preserved body begin 00105871
  {
    boost::mutex::scoped_lock datatraceM(dataTracesMutex);
    if (this->dataTraces[JointNumber - 1] != NULL)
      throw std::runtime_error("A data trace is already register for this joint!");
    if ((JointNumber - 1) >= this->dataTraces.size())
      throw std::out_of_range("Invalid joint number");

    this->dataTraces[JointNumber - 1] = (DataTrace*)object;
  }
  LOG(debug) << "register a data trace for joint: " << JointNumber;
  // Bouml preserved body end 00105871
}

void EthercatMasterWithThread::deleteDataTraceRegistration(const unsigned int JointNumber)
{
  // Bouml preserved body begin 001058F1
  {
    boost::mutex::scoped_lock datatraceM(dataTracesMutex);
    if ((JointNumber - 1) >= this->dataTraces.size())
      throw std::out_of_range("Invalid joint number");

    this->dataTraces[JointNumber - 1] = NULL;

  }
  LOG(debug) << "removed data trace for joint: " << JointNumber;
  // Bouml preserved body end 001058F1
}

void EthercatMasterWithThread::initializeEthercat()
{
  // Bouml preserved body begin 000410F1

  /* initialise SOEM, bind socket to ifname */
  if (ec_init(ethernetDevice.c_str()))
  {
    LOG(info) << "Initializing EtherCAT on " << ethernetDevice << " with communication thread";
    /* find and auto-config slaves */
    if (ec_config(TRUE, &IOmap_) > 0)
    {

      LOG(trace) << ec_slavecount << " EtherCAT slaves found and configured.";

      /* wait for all slaves to reach Pre OP state */
      /*ec_statecheck(0, EC_STATE_PRE_OP,  EC_TIMEOUTSTATE);
       if (ec_slave[0].state != EC_STATE_PRE_OP ){
       LOG(debug) << "Not all slaves reached pre operational state.";
       ec_readstate();
       //If not all slaves operational find out which one
       for(int i = 1; i<=ec_slavecount ; i++){
       if(ec_slave[i].state != EC_STATE_PRE_OP){
       printf("Slave %d State=%2x StatusCode=%4x : %s\n",
       i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
       }
       }
       }
       */

      /* distributed clock is not working
       //Configure distributed clock
       if(!ec_configdc()){
       LOG(warning) << "no distributed clock is available";
       }else{

       uint32 CyclTime = 4000000;
       uint32 CyclShift = 0;
       for (int i = 1; i <= ec_slavecount; i++) {
       ec_dcsync0(i, true, CyclTime, CyclShift);
       }

       }
       */

      /* wait for all slaves to reach SAFE_OP state */
      ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
      if (ec_slave[0].state != EC_STATE_SAFE_OP)
      {
        LOG(warning) << "Not all EtherCAT slaves reached safe operational state.";
        ec_readstate();
        //If not all slaves operational find out which one
        for (int i = 1; i <= ec_slavecount; i++)
        {
          if (ec_slave[i].state != EC_STATE_SAFE_OP)
          {
            LOG(info) << "Slave " << i << " State=" << ec_slave[i].state << " StatusCode=" << ec_slave[i].ALstatuscode
                << " : " << ec_ALstatuscode2string(ec_slave[i].ALstatuscode);

          }
        }
      }

      //Read the state of all slaves
      //ec_readstate();

      LOG(trace) << "Request operational state for all EtherCAT slaves";

      ec_slave[0].state = EC_STATE_OPERATIONAL;
      // request OP state for all slaves
      /* send one valid process data to make outputs in slaves happy*/
      ec_send_processdata();
      ec_receive_processdata(EC_TIMEOUTRET);
      /* request OP state for all slaves */
      ec_writestate(0);
      // wait for all slaves to reach OP state

      ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
      if (ec_slave[0].state == EC_STATE_OPERATIONAL)
      {
        LOG(trace) << "Operational state reached for all EtherCAT slaves.";
      }
      else
      {
        throw std::runtime_error("Not all EtherCAT slaves reached operational state.");

      }

    }
    else
    {
      throw std::runtime_error("No EtherCAT slaves found!");
    }

  }
  else
  {
    throw std::runtime_error("No socket connection on " + ethernetDevice + "\nExcecute as root");
  }

  std::string baseJointControllerName = "TMCM-174";
  std::string baseJointControllerNameAlternative = "TMCM-1632";
  std::string manipulatorJointControllerName = "TMCM-174";
  std::string ManipulatorJointControllerNameAlternative = "TMCM-1610";
  std::string actualSlaveName;
  nrOfSlaves = 0;
  YouBotSlaveMsg emptySlaveMsg;
  YouBotSlaveMsgThreadSafe emptySlaveMsgThreadSafe;

  configfile->readInto(baseJointControllerName, "BaseJointControllerName");
  configfile->readInto(baseJointControllerNameAlternative, "BaseJointControllerNameAlternative");
  configfile->readInto(manipulatorJointControllerName, "ManipulatorJointControllerName");
  configfile->readInto(ManipulatorJointControllerNameAlternative, "ManipulatorJointControllerNameAlternative");

  //reserve memory for all slave with a input/output buffer
  for (int cnt = 1; cnt <= ec_slavecount; cnt++)
  {
    LOG(trace) << "Slave: " << cnt << " Name: " << ec_slave[cnt].name << " Output size: " << ec_slave[cnt].Obits
        << "bits Input size: " << ec_slave[cnt].Ibits << "bits State: " << ec_slave[cnt].state << " delay: "
        << ec_slave[cnt].pdelay; //<< " has dclock: " << (bool)ec_slave[cnt].hasdc;

    ethercatSlaveInfo.push_back(ec_slave[cnt]);

    actualSlaveName = ec_slave[cnt].name;
    if ((actualSlaveName == baseJointControllerName || actualSlaveName == baseJointControllerNameAlternative
        || actualSlaveName == manipulatorJointControllerName
        || actualSlaveName == ManipulatorJointControllerNameAlternative) && ec_slave[cnt].Obits > 0
        && ec_slave[cnt].Ibits > 0)
    {
      nrOfSlaves++;
      ethercatOutputBufferVector.push_back((SlaveMessageOutput*)(ec_slave[cnt].outputs));
      ethercatInputBufferVector.push_back((SlaveMessageInput*)(ec_slave[cnt].inputs));
      YouBotSlaveMailboxMsgThreadSafe emptyMailboxSlaveMsg(cnt);
      mailboxMessages.push_back(emptyMailboxSlaveMsg);
      pendingMailboxMsgsReply.push_back(false);
      trajectoryControllers.push_back(NULL);
      jointLimitMonitors.push_back(NULL);
      slaveMessages.push_back(emptySlaveMsgThreadSafe);
      outstandingMailboxMsgFlag.push_back(false);
      newInputMailboxMsgFlag.push_back(false);
      dataTraces.push_back(NULL);
    }
  }
  automaticReceiveOffBufferVector.reserve(slaveMessages.size());

  if (nrOfSlaves > 0)
  {
    LOG(info) << nrOfSlaves << " EtherCAT slaves found";
  }
  else
  {
    throw std::runtime_error("No EtherCAT slave could be found");
    return;
  }

  stopThread = false;
  threads.create_thread(boost::bind(&EthercatMasterWithThread::updateSensorActorValues, this));

  SLEEP_MILLISEC(10); //needed to start up thread and EtherCAT communication

  this->ethercatConnectionEstablished = true;
  return;
  // Bouml preserved body end 000410F1
}

bool EthercatMasterWithThread::closeEthercat()
{
  // Bouml preserved body begin 00041271

  this->ethercatConnectionEstablished = false;
  // Request safe operational state for all slaves
  ec_slave[0].state = EC_STATE_SAFE_OP;

  /* request SAFE_OP state for all slaves */
  ec_writestate(0);

  //stop SOEM, close socket
  ec_close();

  return true;
  // Bouml preserved body end 00041271
}

void EthercatMasterWithThread::setMsgBuffer(const YouBotSlaveMsg& msgBuffer, const unsigned int jointNumber)
{
  // Bouml preserved body begin 000414F1

  if (this->automaticSendOn == true)
  {
    slaveMessages[jointNumber - 1].stctOutput.Set(msgBuffer.stctOutput);
  }
  else
  {
    YouBotSlaveMsg localMsg;
    localMsg.stctInput = msgBuffer.stctInput;
    localMsg.stctOutput = msgBuffer.stctOutput;
    localMsg.jointNumber = jointNumber;
    automaticSendOffBufferVector.push_back(localMsg);
  }

  // Bouml preserved body end 000414F1
}

void EthercatMasterWithThread::getMsgBuffer(const unsigned int jointNumber, YouBotSlaveMsg& returnMsg)
{
  // Bouml preserved body begin 00041571

  if (this->automaticReceiveOn == true)
  {
    slaveMessages[jointNumber - 1].stctInput.Get(returnMsg.stctInput);
    slaveMessages[jointNumber - 1].stctOutput.Get(returnMsg.stctOutput);
    slaveMessages[jointNumber - 1].jointNumber.Get(returnMsg.jointNumber);
  }
  else
  {
    returnMsg = this->automaticReceiveOffBufferVector[jointNumber - 1];
  }

  // Bouml preserved body end 00041571
}

void EthercatMasterWithThread::setMailboxMsgBuffer(const YouBotSlaveMailboxMsg& msgBuffer,
                                                   const unsigned int jointNumber)
{
  // Bouml preserved body begin 00049D71
  this->mailboxMessages[jointNumber - 1].stctOutput.Set(msgBuffer.stctOutput);
  outstandingMailboxMsgFlag[jointNumber - 1] = true;
  return;
  // Bouml preserved body end 00049D71
}

bool EthercatMasterWithThread::getMailboxMsgBuffer(YouBotSlaveMailboxMsg& mailboxMsg, const unsigned int jointNumber)
{
  // Bouml preserved body begin 00049DF1
  if (newInputMailboxMsgFlag[jointNumber - 1] == true)
  {
    this->mailboxMessages[jointNumber - 1].stctInput.Get(mailboxMsg.stctInput);
    newInputMailboxMsgFlag[jointNumber - 1] = false;
    return true;
  }
  return false;
  // Bouml preserved body end 00049DF1
}

bool EthercatMasterWithThread::sendMailboxMessage(const YouBotSlaveMailboxMsg& mailboxMsg)
{
  // Bouml preserved body begin 00052F71
  //  LOG(trace) << "send mailbox message (buffer two) slave " << mailboxMsg.getSlaveNo();
  mailboxBufferSend[0] = mailboxMsg.stctOutput.moduleAddress;
  mailboxBufferSend[1] = mailboxMsg.stctOutput.commandNumber;
  mailboxBufferSend[2] = mailboxMsg.stctOutput.typeNumber;
  mailboxBufferSend[3] = mailboxMsg.stctOutput.motorNumber;
  mailboxBufferSend[4] = mailboxMsg.stctOutput.value >> 24;
  mailboxBufferSend[5] = mailboxMsg.stctOutput.value >> 16;
  mailboxBufferSend[6] = mailboxMsg.stctOutput.value >> 8;
  mailboxBufferSend[7] = mailboxMsg.stctOutput.value & 0xff;
  if (ec_mbxsend(mailboxMsg.slaveNumber, &mailboxBufferSend, mailboxTimeout))
  {
    return true;
  }
  else
  {
    return false;
  }
  // Bouml preserved body end 00052F71
}

bool EthercatMasterWithThread::receiveMailboxMessage(YouBotSlaveMailboxMsg& mailboxMsg)
{
  // Bouml preserved body begin 00052FF1
  if (ec_mbxreceive(mailboxMsg.slaveNumber, &mailboxBufferReceive, mailboxTimeout))
  {
    //    LOG(trace) << "received mailbox message (buffer two) slave " << mailboxMsg.getSlaveNo();
    mailboxMsg.stctInput.replyAddress = (int)mailboxBufferReceive[0];
    mailboxMsg.stctInput.moduleAddress = (int)mailboxBufferReceive[1];
    mailboxMsg.stctInput.status = (int)mailboxBufferReceive[2];
    mailboxMsg.stctInput.commandNumber = (int)mailboxBufferReceive[3];
    mailboxMsg.stctInput.value = (mailboxBufferReceive[4] << 24 | mailboxBufferReceive[5] << 16
        | mailboxBufferReceive[6] << 8 | mailboxBufferReceive[7]);
    return true;
  }
  return false;
  // Bouml preserved body end 00052FF1
}

void EthercatMasterWithThread::updateSensorActorValues()
{
  // Bouml preserved body begin 0003F771

  long timeToWait = 0;
  boost::posix_time::ptime startTime = boost::posix_time::microsec_clock::local_time();
  boost::posix_time::time_duration pastTime;
  //  int counter = 0;
  boost::posix_time::time_duration realperiode;
  //boost::posix_time::time_duration timeSum = startTime - startTime;
  SlaveMessageOutput trajectoryContollerOutput;
  YouBotSlaveMailboxMsg tempMsg;

  while (!stopThread)
  {

    pastTime = boost::posix_time::microsec_clock::local_time() - startTime;
    timeToWait = timeTillNextEthercatUpdate - pastTime.total_microseconds() - 100;

    if (timeToWait < 0 || timeToWait > (int)timeTillNextEthercatUpdate)
    {
      //    printf("Missed communication period of %d  microseconds it have been %d microseconds \n",timeTillNextEthercatUpdate, (int)pastTime.total_microseconds()+ 100);
    }
    else
    {
      boost::this_thread::sleep(boost::posix_time::microseconds(timeToWait));
    }

    // realperiode = boost::posix_time::microsec_clock::local_time() - startTime;
    startTime = boost::posix_time::microsec_clock::local_time();

    /*
     counter++;
     timeSum  = timeSum + realperiode;

     if(counter == 1000){

     double dtotaltime = (double)timeSum.total_microseconds()/counter;
     printf("TotalTime %7.0lf us\n", dtotaltime);
     counter = 0;
     timeSum = startTime - startTime;
     }
     */

    //send and receive data from ethercat
    if (ec_send_processdata() == 0)
    {
      LOG(warning) << "Sending process data failed";
    }

    if (ec_receive_processdata(this->ethercatTimeout) == 0)
    {
      if (communicationErrors == 0)
      {
        LOG(warning) << "Receiving data failed";
      }
      communicationErrors++;
    }
    else
    {
      communicationErrors = 0;
    }

//after receiving too many consecutive communication errors, give up
    if (communicationErrors > maxCommunicationErrors)
    {
      LOG(error) << "Lost EtherCAT connection";
      this->closeEthercat();
      stopThread = true;
      break;
    }

    if (ec_iserror())
      LOG(warning) << "there is an error in the soem driver";

    for (unsigned int i = 0; i < nrOfSlaves; i++)
    {

      //send data
      if (automaticSendOn == true)
        slaveMessages[i].stctOutput.Get(*(ethercatOutputBufferVector[i]));

      //receive data
      if (automaticReceiveOn == true)
        slaveMessages[i].stctInput.Set(*(ethercatInputBufferVector[i]));

      // Limit checker
      if (jointLimitMonitors[i] != NULL)
      {
        this->jointLimitMonitors[i]->checkLimitsProcessData(*(ethercatInputBufferVector[i]),
                                                            *(ethercatOutputBufferVector[i]));
        //copy back changed velocity for limit checker
        slaveMessages[i].stctOutput.Set(*(ethercatOutputBufferVector[i]));
      }
      // this->parseYouBotErrorFlags(secondBufferVector[i]);

      //send mailbox messages from first buffer
      if (outstandingMailboxMsgFlag[i])
      {
        this->mailboxMessages[i].stctOutput.Get(tempMsg.stctOutput);
        this->mailboxMessages[i].slaveNumber.Get(tempMsg.slaveNumber);
        sendMailboxMessage(tempMsg);
        outstandingMailboxMsgFlag[i] = false;
        pendingMailboxMsgsReply[i] = true;
      }

      //receive mailbox messages to first buffer
      if (pendingMailboxMsgsReply[i])
      {
        this->mailboxMessages[i].slaveNumber.Get(tempMsg.slaveNumber);
        if (receiveMailboxMessage(tempMsg))
        {
          this->mailboxMessages[i].stctInput.Set(tempMsg.stctInput);
          newInputMailboxMsgFlag[i] = true;
          pendingMailboxMsgsReply[i] = false;
        }
      }
    }

    // Trajectory Controller
    {
      boost::mutex::scoped_lock trajectoryControllerMutex(trajectoryControllerVectorMutex);
      for (unsigned int i = 0; i < nrOfSlaves; i++)
      {
        if (this->trajectoryControllers[i] != NULL)
        {
          if (this->trajectoryControllers[i]->updateTrajectoryController(*(ethercatInputBufferVector[i]),
                                                                         trajectoryContollerOutput))
          {
            //   printf("send vel slave: %d", i);
            (*(ethercatOutputBufferVector[i])).controllerMode = trajectoryContollerOutput.controllerMode;
            (*(ethercatOutputBufferVector[i])).value = trajectoryContollerOutput.value;
            //copy back
            slaveMessages[i].stctOutput.Set(*(ethercatOutputBufferVector[i]));
          }
        }
      }
    }
    // update Data Traces
    for (unsigned int i = 0; i < nrOfSlaves; i++)
    {
      {
        boost::mutex::scoped_lock datatraceM(dataTracesMutex);
        if (dataTraces[i] != NULL)
        {
          ((DataTrace*)dataTraces[i])->updateTrace();
        }
      }
    }
  }
  // Bouml preserved body end 0003F771
}

void EthercatMasterWithThread::parseYouBotErrorFlags(const YouBotSlaveMsg& messageBuffer)
{
  // Bouml preserved body begin 000A9E71
  std::stringstream errorMessageStream;
  errorMessageStream << " ";
  std::string errorMessage;
  errorMessage = errorMessageStream.str();

  if (messageBuffer.stctInput.errorFlags & OVER_CURRENT)
  {
    LOG(error) << errorMessage << "got over current";
    //    throw JointErrorException(errorMessage + "got over current");
  }

  if (messageBuffer.stctInput.errorFlags & UNDER_VOLTAGE)
  {
    LOG(error) << errorMessage << "got under voltage";
    //    throw JointErrorException(errorMessage + "got under voltage");
  }

  if (messageBuffer.stctInput.errorFlags & OVER_VOLTAGE)
  {
    LOG(error) << errorMessage << "got over voltage";
    //   throw JointErrorException(errorMessage + "got over voltage");
  }

  if (messageBuffer.stctInput.errorFlags & OVER_TEMPERATURE)
  {
    LOG(error) << errorMessage << "got over temperature";
    //   throw JointErrorException(errorMessage + "got over temperature");
  }

  if (messageBuffer.stctInput.errorFlags & MOTOR_HALTED)
  {
    //   LOG(info) << errorMessage << "is halted";
    //   throw JointErrorException(errorMessage + "is halted");
  }

  if (messageBuffer.stctInput.errorFlags & HALL_SENSOR_ERROR)
  {
    LOG(error) << errorMessage << "got hall sensor problem";
    //   throw JointErrorException(errorMessage + "got hall sensor problem");
  }

  //    if (messageBuffer.stctInput.errorFlags & ENCODER_ERROR) {
  //      LOG(error) << errorMessage << "got encoder problem";
  //      //   throw JointErrorException(errorMessage + "got encoder problem");
  //    }
  //
  //     if (messageBuffer.stctInput.errorFlags & INITIALIZATION_ERROR) {
  //      LOG(error) << errorMessage << "got inizialization problem";
  //      //   throw JointErrorException(errorMessage + "got motor winding problem");
  //    }

//    if (messageBuffer.stctInput.errorFlags & PWM_MODE_ACTIVE) {
  //  LOG(error) << errorMessage << "has PWM mode active";
  //   throw JointErrorException(errorMessage + "the cycle time is violated");
//    }

  if (messageBuffer.stctInput.errorFlags & VELOCITY_MODE)
  {
    //   LOG(info) << errorMessage << "has velocity mode active";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  if (messageBuffer.stctInput.errorFlags & POSITION_MODE)
  {
    //   LOG(info) << errorMessage << "has position mode active";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  if (messageBuffer.stctInput.errorFlags & TORQUE_MODE)
  {
    //   LOG(info) << errorMessage << "has torque mode active";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  //    if (messageBuffer.stctInput.errorFlags & EMERGENCY_STOP) {
  //      LOG(info) << errorMessage << "has emergency stop active";
  //      //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  //    }
  //
  //    if (messageBuffer.stctInput.errorFlags & FREERUNNING) {
  //   //   LOG(info) << errorMessage << "has freerunning active";
  //      //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  //    }

  if (messageBuffer.stctInput.errorFlags & POSITION_REACHED)
  {
    //    LOG(info) << errorMessage << "has position reached";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  if (messageBuffer.stctInput.errorFlags & INITIALIZED)
  {
    //  LOG(info) << errorMessage << "is initialized";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  if (messageBuffer.stctInput.errorFlags & TIMEOUT)
  {
    LOG(error) << errorMessage << "has a timeout";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  if (messageBuffer.stctInput.errorFlags & I2T_EXCEEDED)
  {
    LOG(error) << errorMessage << "exceeded I2t";
    //   throw JointErrorException(errorMessage + "need to initialize the sinus commutation");
  }

  // Bouml preserved body end 000A9E71
}

std::string EthercatMasterWithThread::configFileName;

std::string EthercatMasterWithThread::configFilepath;

} // namespace youbot