#include <ethercat_hardware.h>
Public Member Functions | |
void | collectDiagnostics () |
Collects diagnotics from all devices. | |
EthercatHardware (const std::string &name) | |
Constructor. | |
void | init (char *interface, bool allow_unprogrammed) |
Initialize the EtherCAT Master Library. | |
void | printCounters (std::ostream &os=std::cout) |
bool | publishTrace (int position, const string &reason, unsigned level, unsigned delay) |
Ask one or all EtherCAT devices to publish (motor) traces. | |
bool | txandrx_PD (unsigned buffer_size, unsigned char *buffer, unsigned tries) |
Send process data. | |
void | update (bool reset, bool halt) |
Send most recent motor commands and retrieve updates. This command must be run at a sufficient rate or else the motors will be disabled. | |
~EthercatHardware () | |
Destructor. | |
Public Attributes | |
pr2_hardware_interface::HardwareInterface * | hw_ |
Private Member Functions | |
boost::shared_ptr< EthercatDevice > | configNonEthercatDevice (const std::string &product_id, const std::string &data) |
boost::shared_ptr< EthercatDevice > | configSlave (EtherCAT_SlaveHandler *sh) |
void | haltMotors (bool error, const char *reason) |
void | loadNonEthercatDevices () |
void | publishDiagnostics () |
Collects raw diagnostics data and passes it to diagnostics_publisher. | |
Static Private Member Functions | |
static void | changeState (EtherCAT_SlaveHandler *sh, EC_State new_state) |
static void | updateAccMax (double &max, const accumulator_set< double, stats< tag::max, tag::mean > > &acc) |
Private Attributes | |
EtherCAT_AL * | al_ |
unsigned int | buffer_size_ |
unsigned char * | buffers_ |
pluginlib::ClassLoader < EthercatDevice > | device_loader_ |
EthercatHardwareDiagnostics | diagnostics_ |
EthercatHardwareDiagnosticsPublisher | diagnostics_publisher_ |
EtherCAT_Master * | em_ |
bool | halt_motors_ |
string | interface_ |
ros::Time | last_published_ |
ros::Time | last_reset_ |
unsigned | max_pd_retries_ |
Max number of times to retry sending process data before halting motors. | |
realtime_tools::RealtimePublisher < std_msgs::Bool > | motor_publisher_ |
struct netif * | ni_ |
ros::NodeHandle | node_ |
unsigned int | num_ethercat_devices_ |
EthercatOobCom * | oob_com_ |
unsigned char * | prev_buffer_ |
unsigned int | reset_state_ |
std::vector< boost::shared_ptr < EthercatDevice > > | slaves_ |
unsigned char * | this_buffer_ |
unsigned | timeout_ |
Timeout (in microseconds) to used for sending/recieving packets once in realtime mode. |
Definition at line 203 of file ethercat_hardware.h.
EthercatHardware::EthercatHardware | ( | const std::string & | name | ) |
Constructor.
Definition at line 71 of file ethercat_hardware.cpp.
Destructor.
Definition at line 82 of file ethercat_hardware.cpp.
void EthercatHardware::changeState | ( | EtherCAT_SlaveHandler * | sh, |
EC_State | new_state | ||
) | [static, private] |
Definition at line 102 of file ethercat_hardware.cpp.
void EthercatHardware::collectDiagnostics | ( | ) |
Collects diagnotics from all devices.
Definition at line 918 of file ethercat_hardware.cpp.
boost::shared_ptr< EthercatDevice > EthercatHardware::configNonEthercatDevice | ( | const std::string & | product_id, |
const std::string & | data | ||
) | [private] |
Definition at line 821 of file ethercat_hardware.cpp.
boost::shared_ptr< EthercatDevice > EthercatHardware::configSlave | ( | EtherCAT_SlaveHandler * | sh | ) | [private] |
Definition at line 714 of file ethercat_hardware.cpp.
void EthercatHardware::haltMotors | ( | bool | error, |
const char * | reason | ||
) | [private] |
Definition at line 656 of file ethercat_hardware.cpp.
void EthercatHardware::init | ( | char * | interface, |
bool | allow_unprogrammed | ||
) |
Initialize the EtherCAT Master Library.
interface | The socket interface that is connected to the EtherCAT devices (e.g., eth0) |
allow_unprogrammed | A boolean indicating if the driver should treat the discovery of unprogrammed boards as a fatal error. Set to 'true' during board configuration, and set to 'false' otherwise. |
Definition at line 119 of file ethercat_hardware.cpp.
void EthercatHardware::loadNonEthercatDevices | ( | ) | [private] |
Definition at line 850 of file ethercat_hardware.cpp.
void EthercatHardware::printCounters | ( | std::ostream & | os = std::cout | ) |
Definition at line 953 of file ethercat_hardware.cpp.
void EthercatHardware::publishDiagnostics | ( | ) | [private] |
Collects raw diagnostics data and passes it to diagnostics_publisher.
Definition at line 687 of file ethercat_hardware.cpp.
bool EthercatHardware::publishTrace | ( | int | position, |
const string & | reason, | ||
unsigned | level, | ||
unsigned | delay | ||
) |
Ask one or all EtherCAT devices to publish (motor) traces.
position | device ring position to publish trace for. Use -1 to trigger all devices. |
reason | Message to put in trace as reason. |
level | Level to put in trace (aka ERROR=2, WARN=1, OK=0) |
delay | Publish trace after delay cyles. For 1kHz realtime loop 1cycle = 1ms. |
Definition at line 995 of file ethercat_hardware.cpp.
bool EthercatHardware::txandrx_PD | ( | unsigned | buffer_size, |
unsigned char * | buffer, | ||
unsigned | tries | ||
) |
Send process data.
Definition at line 978 of file ethercat_hardware.cpp.
void EthercatHardware::update | ( | bool | reset, |
bool | halt | ||
) |
Send most recent motor commands and retrieve updates. This command must be run at a sufficient rate or else the motors will be disabled.
reset | A boolean indicating if the motor controller boards should be reset |
halt | A boolean indicating if the motors should be halted |
Definition at line 546 of file ethercat_hardware.cpp.
void EthercatHardware::updateAccMax | ( | double & | max, |
const accumulator_set< double, stats< tag::max, tag::mean > > & | acc | ||
) | [static, private] |
Definition at line 682 of file ethercat_hardware.cpp.
EtherCAT_AL* EthercatHardware::al_ [private] |
Definition at line 268 of file ethercat_hardware.h.
unsigned int EthercatHardware::buffer_size_ [private] |
Definition at line 278 of file ethercat_hardware.h.
unsigned char* EthercatHardware::buffers_ [private] |
Definition at line 277 of file ethercat_hardware.h.
Definition at line 297 of file ethercat_hardware.h.
Definition at line 288 of file ethercat_hardware.h.
Definition at line 289 of file ethercat_hardware.h.
EtherCAT_Master* EthercatHardware::em_ [private] |
Definition at line 269 of file ethercat_hardware.h.
bool EthercatHardware::halt_motors_ [private] |
Definition at line 280 of file ethercat_hardware.h.
Definition at line 253 of file ethercat_hardware.h.
string EthercatHardware::interface_ [private] |
Definition at line 266 of file ethercat_hardware.h.
ros::Time EthercatHardware::last_published_ [private] |
Definition at line 290 of file ethercat_hardware.h.
ros::Time EthercatHardware::last_reset_ [private] |
Definition at line 291 of file ethercat_hardware.h.
unsigned EthercatHardware::max_pd_retries_ [private] |
Max number of times to retry sending process data before halting motors.
Definition at line 284 of file ethercat_hardware.h.
realtime_tools::RealtimePublisher<std_msgs::Bool> EthercatHardware::motor_publisher_ [private] |
Definition at line 293 of file ethercat_hardware.h.
struct netif* EthercatHardware::ni_ [private] |
Definition at line 265 of file ethercat_hardware.h.
ros::NodeHandle EthercatHardware::node_ [private] |
Definition at line 263 of file ethercat_hardware.h.
unsigned int EthercatHardware::num_ethercat_devices_ [private] |
Definition at line 273 of file ethercat_hardware.h.
EthercatOobCom* EthercatHardware::oob_com_ [private] |
Definition at line 295 of file ethercat_hardware.h.
unsigned char* EthercatHardware::prev_buffer_ [private] |
Definition at line 276 of file ethercat_hardware.h.
unsigned int EthercatHardware::reset_state_ [private] |
Definition at line 281 of file ethercat_hardware.h.
std::vector<boost::shared_ptr<EthercatDevice> > EthercatHardware::slaves_ [private] |
Definition at line 272 of file ethercat_hardware.h.
unsigned char* EthercatHardware::this_buffer_ [private] |
Definition at line 275 of file ethercat_hardware.h.
unsigned EthercatHardware::timeout_ [private] |
Timeout (in microseconds) to used for sending/recieving packets once in realtime mode.
Definition at line 283 of file ethercat_hardware.h.