ethercat_hardware: wg_soft_processor.h Source File

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00034 
00035 #ifndef ETHERCAT_HARDWARE__WG_SOFT_PROCESSOR_H
00036 #define ETHERCAT_HARDWARE__WG_SOFT_PROCESSOR_H
00037 
00038 #include <ros/ros.h>
00039 #include "ethercat_hardware/ethercat_com.h"
00040 #include "ethercat_hardware/wg_mailbox.h"
00041 #include "ethercat_hardware/SoftProcessorFirmwareWrite.h"
00042 #include "ethercat_hardware/SoftProcessorFirmwareRead.h"
00043 #include "ethercat_hardware/SoftProcessorReset.h"
00044 
00045 #include <vector>
00046 #include <ostream>
00047 #include <string>
00048 
00049 namespace ethercat_hardware
00050 {
00051 
00052 
00057 class WGSoftProcessor
00058 {
00059 public:
00060   WGSoftProcessor();
00061   bool initialize(EthercatCom *com);
00062 
00063   struct Info 
00064   {
00065     Info() : mbx_(NULL), iram_address_(-1), ctrl_address_(-1) {}
00066     Info( WGMailbox *mbx,
00067           const std::string &actuator_name, 
00068           const std::string &processor_name, 
00069           unsigned iram_address, unsigned ctrl_address ) :
00070       mbx_(mbx), actuator_name_(actuator_name), processor_name_(processor_name),
00071       iram_address_(iram_address), ctrl_address_(ctrl_address) {}
00072     WGMailbox *mbx_;    
00073     std::string actuator_name_;
00074     std::string processor_name_;
00075     unsigned iram_address_;
00076     unsigned ctrl_address_;
00077   };
00078 
00079   void add(WGMailbox *mbx, const std::string &actuator_name, const std::string &processor_name, 
00080            unsigned iram_address, unsigned ctrl_address);  
00081 
00082 protected:
00083 
00084   static const unsigned IRAM_INSTRUCTION_LENGTH = 1024;
00085 
00086   std::vector<Info> processors_;
00087 
00088   bool writeFirmwareCB(ethercat_hardware::SoftProcessorFirmwareWrite::Request &request, 
00089                        ethercat_hardware::SoftProcessorFirmwareWrite::Response &response);
00090   bool readFirmwareCB(ethercat_hardware::SoftProcessorFirmwareRead::Request &request, 
00091                       ethercat_hardware::SoftProcessorFirmwareRead::Response &response);
00092   bool resetCB(ethercat_hardware::SoftProcessorReset::Request &request, 
00093                ethercat_hardware::SoftProcessorReset::Response &response);
00094 
00095   ros::ServiceServer read_firmware_service_; 
00096   ros::ServiceServer write_firmware_service_; 
00097   ros::ServiceServer reset_service_;  
00098 
00100   bool assertReset(const Info &info, std::ostream &err_msg);
00101 
00103   bool releaseReset(const Info &info, std::ostream &err_msg);
00104 
00106   const WGSoftProcessor::Info* get(const std::string &actuator_name, const std::string &processor_name, std::ostream &err_out) const;
00107     
00108   EthercatCom *com_;
00109 };
00110 
00111 
00112 };  // end namespace ethercat_hardware
00113 
00114 #endif //ETHERCAT_HARDWARE__WG_SOFT_PROCESSOR_H