EC_ESM Class Reference

EtherCAT State Machine. More...

#include <ethercat_FSM.h>

Inheritance diagram for EC_ESM:

List of all members.

Public Member Functions
EC_State	get_state ()
bool	to_state (EC_State a_state)
	State Transitions.
Protected Member Functions
	EC_ESM (EtherCAT_SlaveHandler *a_SH)
	Constructor.
void	setState (EC_ESM_State *a_esm_state)
	Set the internal state.
Private Attributes
EC_ESM_State *	m_esm_state
Friends
class	EC_ESM_InitState
class	EC_ESM_OpState
class	EC_ESM_PreOpState
class	EC_ESM_SafeOpState
class	EC_ESM_State

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Detailed Description

EtherCAT State Machine.

Todo:

Unexpected transitions in the state of the slave (via slaves application, only for complex slaves) are not dealt with for now... This should probably be fixed using a special mailbox msg or a polling mechanism but AFAIS this is undocumented in the spec (see 8.2.4.4.6 Stop output update)...

Definition at line 136 of file ethercat_FSM.h.

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Constructor & Destructor Documentation

EC_ESM::EC_ESM

(

EtherCAT_SlaveHandler *

a_SH

)

[protected]

Constructor.

Parameters:

a_SH	pointer to Slave Handler this FSM concerns

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Member Function Documentation

EC_State EC_ESM::get_state

(

)

[inline]

Definition at line 157 of file ethercat_FSM.h.

void EC_ESM::setState

(

EC_ESM_State *

a_esm_state

)

[inline, protected]

Set the internal state.

Definition at line 164 of file ethercat_FSM.h.

bool EC_ESM::to_state

(

EC_State

a_state

)

[inline]

State Transitions.

Parameters:

a_state

state to go to. Possibilities are EC_INIT_STATE = 0x01, EC_PREOP_STATE = 0x02, EC_BOOTSTRAP_STATE = 0x03, EC_SAFEOP_STATE = 0x04, EC_OP_STATE = 0x08

Definition at line 153 of file ethercat_FSM.h.

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Friends And Related Function Documentation

friend class EC_ESM_InitState [friend]

Definition at line 139 of file ethercat_FSM.h.

friend class EC_ESM_OpState [friend]

Definition at line 142 of file ethercat_FSM.h.

friend class EC_ESM_PreOpState [friend]

Definition at line 140 of file ethercat_FSM.h.

friend class EC_ESM_SafeOpState [friend]

Definition at line 141 of file ethercat_FSM.h.

friend class EC_ESM_State [friend]

Definition at line 138 of file ethercat_FSM.h.

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Member Data Documentation

EC_ESM_State* EC_ESM::m_esm_state [private]

Definition at line 175 of file ethercat_FSM.h.

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

• ethercat_FSM.h