Public Types | Public Member Functions | Static Public Member Functions | Public Attributes
EthercatDevice Class Reference

#include <ethercat_device.h>

List of all members.

Public Types

enum  AddrMode { FIXED_ADDR = 0, POSITIONAL_ADDR = 1 }

Public Member Functions

virtual void collectDiagnostics (EthercatCom *com)
virtual void construct (EtherCAT_SlaveHandler *sh, int &start_address)
 < Construct EtherCAT device
virtual void construct (ros::NodeHandle &nh)
virtual void diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer)
 For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
 EthercatDevice ()
void ethercatDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
 Adds diagnostic information for EtherCAT ports.
virtual int initialize (hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true)
virtual void multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer)
 For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
virtual void packCommand (unsigned char *buffer, bool halt, bool reset)
virtual bool publishTrace (const string &reason, unsigned level, unsigned delay)
 Asks device to publish (motor) trace. Only works for devices that support it.
int readData (EthercatCom *com, uint16_t address, void *buffer, uint16_t length, AddrMode addrMode)
int readWriteData (EthercatCom *com, uint16_t address, void *buffer, uint16_t length, AddrMode addrMode)
virtual bool unpackState (unsigned char *this_buffer, unsigned char *prev_buffer)
int writeData (EthercatCom *com, uint16_t address, void const *buffer, uint16_t length, AddrMode addrMode)
virtual ~EthercatDevice ()

Static Public Member Functions

static int readData (EthercatCom *com, EtherCAT_SlaveHandler *sh, uint16_t address, void *buffer, uint16_t length, AddrMode addrMode=FIXED_ADDR)
 Read data from device ESC.
static int readWriteData (EthercatCom *com, EtherCAT_SlaveHandler *sh, uint16_t address, void *buffer, uint16_t length, AddrMode addrMode=FIXED_ADDR)
 Read then write data to ESC.
static int writeData (EthercatCom *com, EtherCAT_SlaveHandler *sh, uint16_t address, void const *buffer, uint16_t length, AddrMode addrMode=FIXED_ADDR)
 Write data to device ESC.

Public Attributes

enum EthercatDevice::AddrMode __attribute__
unsigned int command_size_
EthercatDeviceDiagnostics deviceDiagnostics [2]
diagnostic_updater::DiagnosticStatusWrapper diagnostic_status_
pthread_mutex_t diagnosticsLock_
unsigned newDiagnosticsIndex_
pthread_mutex_t newDiagnosticsIndexLock_
EtherCAT_SlaveHandlersh_
unsigned int status_size_
bool use_ros_

Detailed Description

Definition at line 136 of file ethercat_device.h.


Member Enumeration Documentation

Enumerator:
FIXED_ADDR 
POSITIONAL_ADDR 

Definition at line 206 of file ethercat_device.h.


Constructor & Destructor Documentation

Definition at line 357 of file ethercat_device.cpp.

virtual EthercatDevice::~EthercatDevice ( ) [inline, virtual]

Definition at line 148 of file ethercat_device.h.


Member Function Documentation

Definition at line 381 of file ethercat_device.cpp.

void EthercatDevice::construct ( EtherCAT_SlaveHandler sh,
int &  start_address 
) [virtual]

< Construct EtherCAT device

Construct non-EtherCAT device

Definition at line 350 of file ethercat_device.cpp.

virtual void EthercatDevice::construct ( ros::NodeHandle nh) [inline, virtual]

Definition at line 143 of file ethercat_device.h.

void EthercatDevice::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper d,
unsigned char *  buffer 
) [virtual]

For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:
dDiagnostics status wrapper.
bufferPointer to slave process data.

Definition at line 586 of file ethercat_device.cpp.

Adds diagnostic information for EtherCAT ports.

Parameters:
dEtherCAT port diagnostics information will be appended.
bufferNumber of communication ports slave has.

Definition at line 567 of file ethercat_device.cpp.

virtual int EthercatDevice::initialize ( hardware_interface::HardwareInterface hw,
bool  allow_unprogrammed = true 
) [inline, virtual]

Definition at line 153 of file ethercat_device.h.

void EthercatDevice::multiDiagnostics ( vector< diagnostic_msgs::DiagnosticStatus > &  vec,
unsigned char *  buffer 
) [virtual]

For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:
vecVector of diagnostics status messages. Slave appends one or more new diagnostic status'.
bufferPointer to slave process data.\

Definition at line 607 of file ethercat_device.cpp.

virtual void EthercatDevice::packCommand ( unsigned char *  buffer,
bool  halt,
bool  reset 
) [inline, virtual]
Parameters:
resetwhen asserted this will clear diagnostic error conditions device safety disable
haltwhile asserted will disable actuator, usually by disabling H-bridge

Definition at line 161 of file ethercat_device.h.

virtual bool EthercatDevice::publishTrace ( const string &  reason,
unsigned  level,
unsigned  delay 
) [inline, virtual]

Asks device to publish (motor) trace. Only works for devices that support it.

Parameters:
reasonMessage to put in trace as reason.
levelLevel to put in trace (aka ERROR=2, WARN=1, OK=0)
delayPublish trace after delay cyles. For 1kHz realtime loop 1cycle = 1ms.
Returns:
Return true if device support publishing trace. False, if not.

Definition at line 201 of file ethercat_device.h.

int EthercatDevice::readData ( EthercatCom com,
EtherCAT_SlaveHandler sh,
uint16_t  address,
void *  buffer,
uint16_t  length,
AddrMode  addrMode = FIXED_ADDR 
) [static]

Read data from device ESC.

Definition at line 462 of file ethercat_device.cpp.

int EthercatDevice::readData ( EthercatCom com,
uint16_t  address,
void *  buffer,
uint16_t  length,
AddrMode  addrMode 
) [inline]

Definition at line 227 of file ethercat_device.h.

int EthercatDevice::readWriteData ( EthercatCom com,
EtherCAT_SlaveHandler sh,
uint16_t  address,
void *  buffer,
uint16_t  length,
AddrMode  addrMode = FIXED_ADDR 
) [static]

Read then write data to ESC.

Definition at line 409 of file ethercat_device.cpp.

int EthercatDevice::readWriteData ( EthercatCom com,
uint16_t  address,
void *  buffer,
uint16_t  length,
AddrMode  addrMode 
) [inline]

Definition at line 238 of file ethercat_device.h.

virtual bool EthercatDevice::unpackState ( unsigned char *  this_buffer,
unsigned char *  prev_buffer 
) [inline, virtual]

Definition at line 164 of file ethercat_device.h.

int EthercatDevice::writeData ( EthercatCom com,
EtherCAT_SlaveHandler sh,
uint16_t  address,
void const *  buffer,
uint16_t  length,
AddrMode  addrMode = FIXED_ADDR 
) [static]

Write data to device ESC.

Definition at line 515 of file ethercat_device.cpp.

int EthercatDevice::writeData ( EthercatCom com,
uint16_t  address,
void const *  buffer,
uint16_t  length,
AddrMode  addrMode 
) [inline]

Definition at line 216 of file ethercat_device.h.


Member Data Documentation

Definition at line 247 of file ethercat_device.h.

Definition at line 258 of file ethercat_device.h.

Definition at line 262 of file ethercat_device.h.

Definition at line 259 of file ethercat_device.h.

Definition at line 256 of file ethercat_device.h.

Definition at line 257 of file ethercat_device.h.

Definition at line 246 of file ethercat_device.h.

Definition at line 248 of file ethercat_device.h.

Definition at line 244 of file ethercat_device.h.


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


ros_ethercat_hardware
Author(s): Rob Wheeler , Derek King , Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:15