youbot::EthercatMasterInterface Class Reference

The Ethercat Master interface. More...

#include <EthercatMasterInterface.hpp>

Inheritance diagram for youbot::EthercatMasterInterface:

Public Member Functions
virtual void	AutomaticReceiveOn (const bool enableAutomaticReceive)=0
virtual void	AutomaticSendOn (const bool enableAutomaticSend)=0
virtual void	getEthercatDiagnosticInformation (std::vector< ec_slavet > &ethercatSlaveInfos)=0
virtual unsigned int	getNumberOfSlaves () const =0
	return the quantity of ethercat slave which have an input/output buffer More...
virtual bool	isErrorInSoemDriver ()=0
virtual bool	isEtherCATConnectionEstablished ()=0
virtual bool	isThreadActive ()=0
virtual bool	receiveProcessData ()=0
virtual void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)=0
virtual bool	sendProcessData ()=0

Protected Member Functions
	EthercatMasterInterface ()
virtual	~EthercatMasterInterface ()

Private Member Functions
virtual bool	getMailboxMsgBuffer (YouBotSlaveMailboxMsg &mailboxMsg, const unsigned int jointNumber)=0
virtual void	getMsgBuffer (const unsigned int jointNumber, YouBotSlaveMsg &returnMsg)=0
virtual void	setMailboxMsgBuffer (const YouBotSlaveMailboxMsg &msgBuffer, const unsigned int jointNumber)=0
virtual void	setMsgBuffer (const YouBotSlaveMsg &msgBuffer, const unsigned int jointNumber)=0

Friends
class	EthercatMaster
class	YouBotGripper
class	YouBotGripperBar
class	YouBotJoint

Detailed Description

The Ethercat Master interface.

Definition at line 68 of file EthercatMasterInterface.hpp.

Constructor & Destructor Documentation

youbot::EthercatMasterInterface::EthercatMasterInterface ( )

inlineprotected

Definition at line 74 of file EthercatMasterInterface.hpp.

virtual youbot::EthercatMasterInterface::~EthercatMasterInterface ( )

inlineprotectedvirtual

Definition at line 76 of file EthercatMasterInterface.hpp.

Member Function Documentation

virtual void youbot::EthercatMasterInterface::AutomaticReceiveOn ( const bool  enableAutomaticReceive )

pure virtual

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::AutomaticSendOn ( const bool  enableAutomaticSend )

pure virtual

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::getEthercatDiagnosticInformation ( std::vector< ec_slavet > &  ethercatSlaveInfos )

pure virtual

provides all ethercat slave informations from the SOEM driver

Parameters

ethercatSlaveInfos

ethercat slave informations

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::getMailboxMsgBuffer ( YouBotSlaveMailboxMsg &  mailboxMsg, const unsigned int  jointNumber  )

privatepure virtual

gets a mailbox message form the buffer which came form the motor controllers

Parameters

msgBuffer	ethercat mailbox message
jointNumber	joint number of the receiver joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::getMsgBuffer ( const unsigned int  jointNumber, YouBotSlaveMsg &  returnMsg  )

privatepure virtual

get a ethercat message form the buffer

Parameters

msgBuffer	ethercat message
jointNumber	joint number of the receiver joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual unsigned int youbot::EthercatMasterInterface::getNumberOfSlaves ( ) const

pure virtual

return the quantity of ethercat slave which have an input/output buffer

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::isErrorInSoemDriver ( )

pure virtual

checks if an error has occurred in the soem driver returns a true if an error has occurred

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::isEtherCATConnectionEstablished ( )

pure virtual

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::isThreadActive ( )

pure virtual

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::receiveProcessData ( )

pure virtual

receives ethercat messages from the motor controllers returns a true if everything it OK and returns false if something fail

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::registerJointLimitMonitor ( JointLimitMonitor *  object, const unsigned int  JointNumber  )

pure virtual

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual bool youbot::EthercatMasterInterface::sendProcessData ( )

pure virtual

sends ethercat messages to the motor controllers returns a true if everything it OK and returns false if something fail

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::setMailboxMsgBuffer ( const YouBotSlaveMailboxMsg &  msgBuffer, const unsigned int  jointNumber  )

privatepure virtual

stores a mailbox message in a buffer which will be sent to the motor controllers

Parameters

msgBuffer	ethercat mailbox message
jointNumber	joint number of the sender joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

virtual void youbot::EthercatMasterInterface::setMsgBuffer ( const YouBotSlaveMsg &  msgBuffer, const unsigned int  jointNumber  )

privatepure virtual

stores a ethercat message to the buffer

Parameters

msgBuffer	ethercat message
jointNumber	joint number of the sender joint

Implemented in youbot::EthercatMasterWithThread, and youbot::EthercatMasterWithoutThread.

Friends And Related Function Documentation

friend class EthercatMaster

friend

Definition at line 69 of file EthercatMasterInterface.hpp.

friend class YouBotGripper

friend

Definition at line 71 of file EthercatMasterInterface.hpp.

friend class YouBotGripperBar

friend

Definition at line 72 of file EthercatMasterInterface.hpp.

friend class YouBotJoint

friend

Definition at line 70 of file EthercatMasterInterface.hpp.

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

• EthercatMasterInterface.hpp