Publishes EthercatHardware diagnostics. More...

#include <ethercat_hardware.h>

Public Member Functions
	EthercatHardwareDiagnosticsPublisher (ros::NodeHandle &node)
void	initialize (const string &interface, unsigned int buffer_size, const std::vector< boost::shared_ptr< EthercatDevice > > &slaves, unsigned int num_ethercat_devices_, unsigned timeout, unsigned max_pd_retries)
	Initializes hardware publish.
void	publish (const unsigned char *buffer, const EthercatHardwareDiagnostics &diagnostics)
	Triggers publishing of new diagnostics data.
void	stop ()
	Stops publishing thread. May block.
	~EthercatHardwareDiagnosticsPublisher ()
Private Member Functions
void	diagnosticsThreadFunc ()
	Publishing thread main loop.
void	publishDiagnostics ()
	Publishes diagnostics.
Static Private Member Functions
static void	timingInformation (diagnostic_updater::DiagnosticStatusWrapper &status, const string &key, const accumulator_set< double, stats< tag::max, tag::mean > > &acc, double max)
	Helper function for converting timing for diagnostics.
Private Attributes
unsigned int	buffer_size_
diagnostic_msgs::DiagnosticArray	diagnostic_array_
EthercatHardwareDiagnostics	diagnostics_
	Diagnostics information use by publish function.
unsigned char *	diagnostics_buffer_
boost::condition_variable	diagnostics_cond_
boost::mutex	diagnostics_mutex_
	mutex protects all class data and cond variable
bool	diagnostics_ready_
boost::thread	diagnostics_thread_
EthernetInterfaceInfo	ethernet_interface_info_
	Information about Ethernet interface used for EtherCAT communication.
string	interface_
uint64_t	last_dropped_packet_count_
	Count of dropped packets last diagnostics cycle.
ros::Time	last_dropped_packet_time_
	Time last packet was dropped 0 otherwise. Used for warning about dropped packets.
unsigned	max_pd_retries_
	Number of times (in a row) to retry sending process data (realtime data) before halting motors.
ros::NodeHandle	node_
unsigned int	num_ethercat_devices_
ros::Publisher	publisher_
std::vector< boost::shared_ptr < EthercatDevice > >	slaves_
diagnostic_updater::DiagnosticStatusWrapper	status_
unsigned	timeout_
	Timeout controls how long EtherCAT driver waits for packet before declaring it as dropped.
vector< diagnostic_msgs::KeyValue >	values_
Static Private Attributes
static const unsigned	dropped_packet_warning_hold_time_ = 10
	Number of seconds since late dropped packet to keep warning.

Detailed Description

Publishes EthercatHardware diagnostics.

All the string formating used for creating diagnostics is too slow to be run in the realtime thread. Instead, a copy of the raw diagnostics data is made and a separate thread does the string conversion and publishing. Previously, the diagnostics data used by publishing thread was contained in the EthercatHardware class. However, this allowed the publishing thread access to other non thread-safe data. This class keeps the diagnostics data used by the publish thread explicitly separate.

Definition at line 109 of file ethercat_hardware.h.

Constructor & Destructor Documentation

EthercatHardwareDiagnosticsPublisher::EthercatHardwareDiagnosticsPublisher ( ros::NodeHandle & node )

Definition at line 431 of file ethercat_hardware.cpp.

EthercatHardwareDiagnosticsPublisher::~EthercatHardwareDiagnosticsPublisher ( )

Definition at line 441 of file ethercat_hardware.cpp.

Member Function Documentation

void EthercatHardwareDiagnosticsPublisher::diagnosticsThreadFunc ( ) [private]

Publishing thread main loop.

Waits for condition variable to start publishing internal data.

Definition at line 493 of file ethercat_hardware.cpp.

void EthercatHardwareDiagnosticsPublisher::initialize	(	const string &	interface,
		unsigned int	buffer_size,
		const std::vector< boost::shared_ptr< EthercatDevice > > &	slaves,
		unsigned int	num_ethercat_devices_,
		unsigned	timeout,
		unsigned	max_pd_retries
	)

Initializes hardware publish.

Parameters:

buffer_size	size of process data buffer
number	of EtherCAT slave devices

Definition at line 446 of file ethercat_hardware.cpp.

void EthercatHardwareDiagnosticsPublisher::publish	(	const unsigned char *	buffer,
		const EthercatHardwareDiagnostics &	diagnostics
	)

Triggers publishing of new diagnostics data.

Makes copy of diagnostics data and triggers internal thread to started conversion and publish of data. This function will not block.

Definition at line 470 of file ethercat_hardware.cpp.

void EthercatHardwareDiagnosticsPublisher::publishDiagnostics ( ) [private]

Publishes diagnostics.

Takes internally saved diagnostics data and converts to a ROS diagnostics status message. This function performs a lot of string formatting, so it is slow.

Definition at line 524 of file ethercat_hardware.cpp.

void EthercatHardwareDiagnosticsPublisher::stop ( )

Stops publishing thread. May block.

Definition at line 486 of file ethercat_hardware.cpp.

void EthercatHardwareDiagnosticsPublisher::timingInformation	(	diagnostic_updater::DiagnosticStatusWrapper &	status,
		const string &	key,
		const accumulator_set< double, stats< tag::max, tag::mean > > &	acc,
		double	max
	)		`[static, private]`