This class provides a CPP interface to the SimpleOpenEthercatMaster library Given the name of an ethernet device, such as "eth0", it will connect, start a thread that cycles data around the network, and provide read/write access to the underlying io map. More...

#include <ethercat_manager.h>

Public Member Functions
	EtherCatManager (const std::string &ifname)
	Constructs and initializes the ethercat slaves on a given network interface.
uint8_t	readInput (int slave_no, uint8_t channel) const
	Reads the "channel-th" input-register of the given slave no.
uint8_t	readOutput (int slave_no, uint8_t channel) const
	Reads the "channel-th" output-register of the given slave no.
void	write (int slave_no, uint8_t channel, uint8_t value)
	writes 'value' to the 'channel-th' output-register of the given 'slave'
	~EtherCatManager ()
Private Member Functions
bool	initSoem (const std::string &ifname)
Private Attributes
boost::thread	cycle_thread_
const std::string	ifname_
boost::scoped_array< uint8_t >	iomap_
boost::mutex	iomap_mutex_
bool	stop_flag_

Detailed Description

This class provides a CPP interface to the SimpleOpenEthercatMaster library Given the name of an ethernet device, such as "eth0", it will connect, start a thread that cycles data around the network, and provide read/write access to the underlying io map.

Please note that as used in these docs, 'Input' and 'Output' are relative to your program. So the 'Output' registers are the ones you write to, for example.

Definition at line 37 of file ethercat_manager.h.

Constructor & Destructor Documentation

robotiq_ethercat::EtherCatManager::EtherCatManager ( const std::string & ifname )

Constructs and initializes the ethercat slaves on a given network interface.

Parameters:

[in] ifname the name of the network interface that the ethercat chain is connected to (i.e. "eth0")

Constructor can throw EtherCatError exception if SOEM could not be initialized.

Definition at line 111 of file ethercat_manager.cpp.

robotiq_ethercat::EtherCatManager::~EtherCatManager ( )

Definition at line 128 of file ethercat_manager.cpp.

Member Function Documentation

bool robotiq_ethercat::EtherCatManager::initSoem ( const std::string & ifname ) [private]

Definition at line 153 of file ethercat_manager.cpp.

uint8_t robotiq_ethercat::EtherCatManager::readInput	(	int	slave_no,
		uint8_t	channel
	)		const

Reads the "channel-th" input-register of the given slave no.

Parameters:

[in]	slave_no	The slave number of the device to read from (>= 1)
[in]	channel	The byte offset into the input IOMap to read from

Definition at line 141 of file ethercat_manager.cpp.

uint8_t robotiq_ethercat::EtherCatManager::readOutput	(	int	slave_no,
		uint8_t	channel
	)		const

Reads the "channel-th" output-register of the given slave no.

Parameters:

[in]	slave_no	The slave number of the device to read from (>= 1)
[in]	channel	The byte offset into the output IOMap to read from

Definition at line 147 of file ethercat_manager.cpp.

void robotiq_ethercat::EtherCatManager::write	(	int	slave_no,
		uint8_t	channel,
		uint8_t	value
	)

writes 'value' to the 'channel-th' output-register of the given 'slave'

Parameters:

[in]	slave_no	The slave number of the device to write to (>= 1)
[in]	channel	The byte offset into the output IOMap to write value to
[in]	value	The byte value to write

This method currently makes no attempt to catch out of bounds errors. Make sure you know your IOMap bounds.

Definition at line 135 of file ethercat_manager.cpp.