#include <ethercat_hardware.h>

Public Member Functions
void	collectDiagnostics ()
	Collects diagnostics from all devices.
	EthercatHardware (const std::string &name, hardware_interface::HardwareInterface *hw, const string &eth, bool allow_unprogrammed)
	Constructor.
const std::vector < boost::shared_ptr< const EthercatDevice > >	getSlaves () const
void	init ()
	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.
Static Public Member Functions
static std::vector < EtherCAT_SlaveHandler >	scanPort (const std::string &eth)
	Scans the network and gives a list of detected devices on a given ethercat port.
Public Attributes
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.
bool	setRouterToSlaveHandlers ()
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
bool	allow_unprogrammed_
	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.
EtherCAT_AL *	application_layer_
unsigned int	buffer_size_
unsigned char *	buffers_
pluginlib::ClassLoader < EthercatDevice >	device_loader_
EthercatHardwareDiagnostics	diagnostics_
EthercatHardwareDiagnosticsPublisher	diagnostics_publisher_
EtherCAT_Master *	ethercat_master_
bool	halt_motors_
string	interface_
	The socket interface that is connected to the EtherCAT devices (e.g., eth0)
ros::Time	last_published_
ros::Time	last_reset_
EtherCAT_DataLinkLayer	m_dll_instance_
EC_Logic	m_logic_instance_
EtherCAT_Router *	m_router_
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_
EtherCAT_PD_Buffer	pd_buffer_
unsigned char *	prev_buffer_
unsigned int	reset_state_
std::vector< boost::shared_ptr < EthercatDevice > >	slaves_
int	start_address_
unsigned char *	this_buffer_
unsigned	timeout_
	Timeout (in microseconds) to used for sending/recieving packets once in realtime mode.

Detailed Description

Definition at line 202 of file ethercat_hardware.h.

Constructor & Destructor Documentation

EthercatHardware::EthercatHardware	(	const std::string &	name,
		hardware_interface::HardwareInterface *	hw,
		const string &	eth,
		bool	allow_unprogrammed
	)

Constructor.

Definition at line 68 of file ethercat_hardware.cpp.

EthercatHardware::~EthercatHardware ( )

Destructor.

Definition at line 96 of file ethercat_hardware.cpp.

Member Function Documentation

void EthercatHardware::changeState	(	EtherCAT_SlaveHandler *	sh,
		EC_State	new_state
	)		`[static, private]`

Definition at line 127 of file ethercat_hardware.cpp.

void EthercatHardware::collectDiagnostics ( )

Collects diagnostics from all devices.

Definition at line 1030 of file ethercat_hardware.cpp.

boost::shared_ptr< EthercatDevice > EthercatHardware::configNonEthercatDevice	(	const std::string &	product_id,
		const std::string &	data
	)		`[private]`

Definition at line 923 of file ethercat_hardware.cpp.

boost::shared_ptr< EthercatDevice > EthercatHardware::configSlave ( EtherCAT_SlaveHandler * sh ) [private]

Definition at line 813 of file ethercat_hardware.cpp.

const std::vector<boost::shared_ptr<const EthercatDevice> > EthercatHardware::getSlaves ( ) const [inline]

Definition at line 260 of file ethercat_hardware.h.

void EthercatHardware::haltMotors	(	bool	error,
		const char *	reason
	)		`[private]`

Definition at line 756 of file ethercat_hardware.cpp.

void EthercatHardware::init ( void )

Initialize the EtherCAT Master Library.

Definition at line 211 of file ethercat_hardware.cpp.

void EthercatHardware::loadNonEthercatDevices ( ) [private]

Definition at line 962 of file ethercat_hardware.cpp.

void EthercatHardware::printCounters ( std::ostream & os = std::cout )

Definition at line 1064 of file ethercat_hardware.cpp.

void EthercatHardware::publishDiagnostics ( ) [private]

Collects raw diagnostics data and passes it to diagnostics_publisher.

Definition at line 787 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.

Parameters:

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 cycles. For 1kHz realtime loop 1cycle = 1ms.

Returns:: Return true if device supports publishing trace. False, if not. If all devices are triggered, returns true if any device publishes trace.

Definition at line 1106 of file ethercat_hardware.cpp.

std::vector< EtherCAT_SlaveHandler > EthercatHardware::scanPort ( const std::string & eth ) [static]

Scans the network and gives a list of detected devices on a given ethercat port.

Parameters:

eth	is the thernet port to be scanned

Definition at line 145 of file ethercat_hardware.cpp.

bool EthercatHardware::setRouterToSlaveHandlers ( ) [private]

Definition at line 118 of file ethercat_hardware.cpp.

bool EthercatHardware::txandrx_PD	(	unsigned	buffer_size,
		unsigned char *	buffer,
		unsigned	tries
	)

Send process data.

Definition at line 1088 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.

Parameters:

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 649 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 781 of file ethercat_hardware.cpp.

Member Data Documentation

bool EthercatHardware::allow_unprogrammed_ [private]

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 317 of file ethercat_hardware.h.

EtherCAT_AL* EthercatHardware::application_layer_ [private]

Definition at line 288 of file ethercat_hardware.h.

unsigned int EthercatHardware::buffer_size_ [private]

Definition at line 298 of file ethercat_hardware.h.

unsigned char* EthercatHardware::buffers_ [private]

Definition at line 297 of file ethercat_hardware.h.

pluginlib::ClassLoader<EthercatDevice> EthercatHardware::device_loader_ [private]

Definition at line 315 of file ethercat_hardware.h.

EthercatHardwareDiagnostics EthercatHardware::diagnostics_ [private]

Definition at line 306 of file ethercat_hardware.h.

EthercatHardwareDiagnosticsPublisher EthercatHardware::diagnostics_publisher_ [private]