#include <EthercatMasterWithThread.hpp>

Inheritance diagram for youbot::EthercatMasterWithThread:

Public Member Functions
void	AutomaticReceiveOn (const bool enableAutomaticReceive)

void	AutomaticSendOn (const bool enableAutomaticSend)

void	deleteDataTraceRegistration (const unsigned int JointNumber)

void	deleteJointTrajectoryControllerRegistration (const unsigned int JointNumber)

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

unsigned int	getNumberOfSlaves () const
	return the quantity of ethercat slave which have an input/output buffer More...

unsigned int	getNumberOfThreadCyclesPerSecond ()

bool	isErrorInSoemDriver ()

bool	isEtherCATConnectionEstablished ()

bool	isThreadActive ()

bool	receiveProcessData ()

void	registerDataTrace (void *object, const unsigned int JointNumber)

void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)

void	registerJointTrajectoryController (JointTrajectoryController *object, const unsigned int JointNumber)

bool	sendProcessData ()

Private Member Functions
bool	closeEthercat ()
	closes the ethercat connection More...

	EthercatMasterWithThread (const std::string &configFile, const std::string &configFilePath)

bool	getMailboxMsgBuffer (YouBotSlaveMailboxMsg &mailboxMsg, const unsigned int jointNumber)

void	getMsgBuffer (const unsigned int jointNumber, YouBotSlaveMsg &returnMsg)

void	initializeEthercat ()
	establishes the ethercat connection More...

void	parseYouBotErrorFlags (const YouBotSlaveMsg &messageBuffer)

bool	receiveMailboxMessage (YouBotSlaveMailboxMsg &mailboxMsg)

bool	sendMailboxMessage (const YouBotSlaveMailboxMsg &mailboxMsg)

void	setMailboxMsgBuffer (const YouBotSlaveMailboxMsg &msgBuffer, const unsigned int jointNumber)

void	setMsgBuffer (const YouBotSlaveMsg &msgBuffer, const unsigned int jointNumber)

void	updateSensorActorValues ()

	~EthercatMasterWithThread ()

Private Attributes
std::vector< YouBotSlaveMsg >	automaticReceiveOffBufferVector

bool	automaticReceiveOn

std::vector< YouBotSlaveMsg >	automaticSendOffBufferVector

bool	automaticSendOn

long int	communicationErrors

ConfigFile *	configfile

std::vector< void * >	dataTraces

boost::mutex	dataTracesMutex

bool	ethercatConnectionEstablished

std::vector< SlaveMessageInput * >	ethercatInputBufferVector

std::vector< SlaveMessageOutput * >	ethercatOutputBufferVector

std::vector< ec_slavet >	ethercatSlaveInfo

unsigned int	ethercatTimeout

std::string	ethernetDevice

char	IOmap_ [4096]

std::vector< JointLimitMonitor * >	jointLimitMonitors

boost::mutex	jointLimitMonitorVectorMutex

ec_mbxbuft	mailboxBuffer

ec_mbxbuft	mailboxBufferReceive

ec_mbxbuft	mailboxBufferSend

std::vector< YouBotSlaveMailboxMsgThreadSafe >	mailboxMessages

unsigned int	mailboxTimeout

long int	maxCommunicationErrors

std::vector< bool >	newInputMailboxMsgFlag

unsigned int	nrOfSlaves

std::vector< bool >	outstandingMailboxMsgFlag

std::vector< bool >	pendingMailboxMsgsReply

std::vector< YouBotSlaveMsgThreadSafe >	slaveMessages

volatile bool	stopThread

boost::thread_group	threads

unsigned int	timeTillNextEthercatUpdate

std::vector< JointTrajectoryController * >	trajectoryControllers

boost::mutex	trajectoryControllerVectorMutex

Static Private Attributes
static std::string	configFileName

static std::string	configFilepath

Friends
class	EthercatMaster

class	YouBotGripper

class	YouBotGripperBar

class	YouBotJoint

Additional Inherited Members
Protected Member Functions inherited from youbot::EthercatMasterInterface
	EthercatMasterInterface ()

virtual	~EthercatMasterInterface ()

Detailed Description

The Ethercat Master is managing the whole ethercat communication It have to be a singleton in the system

Definition at line 85 of file EthercatMasterWithThread.hpp.

Constructor & Destructor Documentation

youbot::EthercatMasterWithThread::EthercatMasterWithThread	(	const std::string &	configFile,
		const std::string &	configFilePath
	)

private

Definition at line 66 of file EthercatMasterWithThread.cpp.

youbot::EthercatMasterWithThread::~EthercatMasterWithThread ( )

private

Definition at line 103 of file EthercatMasterWithThread.cpp.

Member Function Documentation

void youbot::EthercatMasterWithThread::AutomaticReceiveOn ( const bool enableAutomaticReceive )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 148 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::AutomaticSendOn ( const bool enableAutomaticSend )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 126 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::closeEthercat ( )

private

closes the ethercat connection

Definition at line 441 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::deleteDataTraceRegistration ( const unsigned int JointNumber )

Definition at line 278 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::deleteJointTrajectoryControllerRegistration ( const unsigned int JointNumber )

Definition at line 222 of file EthercatMasterWithThread.cpp.

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

virtual

provides all ethercat slave informations from the SOEM driver

Parameters

ethercatSlaveInfos ethercat slave informations

Implements youbot::EthercatMasterInterface.

Definition at line 169 of file EthercatMasterWithThread.cpp.

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

privatevirtual

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

Implements youbot::EthercatMasterInterface.

Definition at line 508 of file EthercatMasterWithThread.cpp.

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

privatevirtual

get a ethercat message form the buffer

Parameters

msgBuffer	ethercat message
jointNumber	joint number of the receiver joint

Implements youbot::EthercatMasterInterface.

Definition at line 480 of file EthercatMasterWithThread.cpp.

unsigned int youbot::EthercatMasterWithThread::getNumberOfSlaves ( ) const

virtual

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

Implements youbot::EthercatMasterInterface.

Definition at line 120 of file EthercatMasterWithThread.cpp.

unsigned int youbot::EthercatMasterWithThread::getNumberOfThreadCyclesPerSecond ( )

Definition at line 235 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::initializeEthercat ( )

private

establishes the ethercat connection

Definition at line 293 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::isErrorInSoemDriver ( )

virtual

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

Implements youbot::EthercatMasterInterface.

Definition at line 199 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::isEtherCATConnectionEstablished ( )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 242 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::isThreadActive ( )

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 113 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::parseYouBotErrorFlags ( const YouBotSlaveMsg & messageBuffer )

private

Definition at line 691 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::receiveMailboxMessage ( YouBotSlaveMailboxMsg & mailboxMsg )

private

receives mailbox messages and stores them in the buffer

Parameters

mailboxMsg ethercat mailbox message

Definition at line 542 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::receiveProcessData ( )

virtual

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

Implements youbot::EthercatMasterInterface.

Definition at line 190 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::registerDataTrace	(	void *	object,
		const unsigned int	JointNumber
	)

Definition at line 263 of file EthercatMasterWithThread.cpp.

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

virtual

Implements youbot::EthercatMasterInterface.

Definition at line 248 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::registerJointTrajectoryController	(	JointTrajectoryController *	object,
		const unsigned int	JointNumber
	)

Definition at line 207 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::sendMailboxMessage ( const YouBotSlaveMailboxMsg & mailboxMsg )

private

sends the mailbox Messages which have been stored in the buffer

Parameters

mailboxMsg ethercat mailbox message

Definition at line 521 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::sendProcessData ( )

virtual

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

Implements youbot::EthercatMasterInterface.

Definition at line 181 of file EthercatMasterWithThread.cpp.

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

privatevirtual

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

Implements youbot::EthercatMasterInterface.

Definition at line 497 of file EthercatMasterWithThread.cpp.

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

privatevirtual

stores a ethercat message to the buffer

Parameters

msgBuffer	ethercat message
jointNumber	joint number of the sender joint

Implements youbot::EthercatMasterInterface.

Definition at line 461 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::updateSensorActorValues ( )

private

sends and receives ethercat messages and mailbox messages to and from the motor controllers this method is executed in a separate thread

Definition at line 559 of file EthercatMasterWithThread.cpp.

Friends And Related Function Documentation

friend class EthercatMaster

friend

Definition at line 86 of file EthercatMasterWithThread.hpp.

friend class YouBotGripper

friend

Definition at line 88 of file EthercatMasterWithThread.hpp.

friend class YouBotGripperBar

friend

Definition at line 89 of file EthercatMasterWithThread.hpp.

friend class YouBotJoint

friend

Definition at line 87 of file EthercatMasterWithThread.hpp.

Member Data Documentation

std::vector<YouBotSlaveMsg> youbot::EthercatMasterWithThread::automaticReceiveOffBufferVector

private

Definition at line 209 of file EthercatMasterWithThread.hpp.

bool youbot::EthercatMasterWithThread::automaticReceiveOn

private

Definition at line 229 of file EthercatMasterWithThread.hpp.

std::vector<YouBotSlaveMsg> youbot::EthercatMasterWithThread::automaticSendOffBufferVector

private

Definition at line 207 of file EthercatMasterWithThread.hpp.

bool youbot::EthercatMasterWithThread::automaticSendOn

private

Definition at line 227 of file EthercatMasterWithThread.hpp.

long int youbot::EthercatMasterWithThread::communicationErrors

private

Definition at line 233 of file EthercatMasterWithThread.hpp.

ConfigFile* youbot::EthercatMasterWithThread::configfile

private

Definition at line 221 of file EthercatMasterWithThread.hpp.

std::string youbot::EthercatMasterWithThread::configFileName

staticprivate

Definition at line 223 of file EthercatMasterWithThread.hpp.

std::string youbot::EthercatMasterWithThread::configFilepath

staticprivate

Definition at line 225 of file EthercatMasterWithThread.hpp.

std::vector<void*> youbot::EthercatMasterWithThread::dataTraces

private

Definition at line 245 of file EthercatMasterWithThread.hpp.

boost::mutex youbot::EthercatMasterWithThread::dataTracesMutex

private

Definition at line 247 of file EthercatMasterWithThread.hpp.

bool youbot::EthercatMasterWithThread::ethercatConnectionEstablished

private

Definition at line 231 of file EthercatMasterWithThread.hpp.

std::vector<SlaveMessageInput*> youbot::EthercatMasterWithThread::ethercatInputBufferVector

private

Definition at line 188 of file EthercatMasterWithThread.hpp.

std::vector<SlaveMessageOutput*> youbot::EthercatMasterWithThread::ethercatOutputBufferVector

private

Definition at line 186 of file EthercatMasterWithThread.hpp.

std::vector<ec_slavet> youbot::EthercatMasterWithThread::ethercatSlaveInfo

private

Definition at line 192 of file EthercatMasterWithThread.hpp.

unsigned int youbot::EthercatMasterWithThread::ethercatTimeout

private

Definition at line 194 of file EthercatMasterWithThread.hpp.

std::string youbot::EthercatMasterWithThread::ethernetDevice

private

Definition at line 178 of file EthercatMasterWithThread.hpp.

char youbot::EthercatMasterWithThread::IOmap_[4096]

private

Definition at line 180 of file EthercatMasterWithThread.hpp.

std::vector<JointLimitMonitor*> youbot::EthercatMasterWithThread::jointLimitMonitors

private

Definition at line 241 of file EthercatMasterWithThread.hpp.

boost::mutex youbot::EthercatMasterWithThread::jointLimitMonitorVectorMutex

private

Definition at line 243 of file EthercatMasterWithThread.hpp.

ec_mbxbuft youbot::EthercatMasterWithThread::mailboxBuffer

private

Definition at line 182 of file EthercatMasterWithThread.hpp.

ec_mbxbuft youbot::EthercatMasterWithThread::mailboxBufferReceive

private

Definition at line 205 of file EthercatMasterWithThread.hpp.

ec_mbxbuft youbot::EthercatMasterWithThread::mailboxBufferSend

private

Definition at line 203 of file EthercatMasterWithThread.hpp.

std::vector<YouBotSlaveMailboxMsgThreadSafe> youbot::EthercatMasterWithThread::mailboxMessages

private

Definition at line 211 of file EthercatMasterWithThread.hpp.

unsigned int youbot::EthercatMasterWithThread::mailboxTimeout

private

Definition at line 213 of file EthercatMasterWithThread.hpp.

long int youbot::EthercatMasterWithThread::maxCommunicationErrors

private

Definition at line 235 of file EthercatMasterWithThread.hpp.

std::vector<bool> youbot::EthercatMasterWithThread::newInputMailboxMsgFlag

private

Definition at line 215 of file EthercatMasterWithThread.hpp.

unsigned int youbot::EthercatMasterWithThread::nrOfSlaves

private

Definition at line 184 of file EthercatMasterWithThread.hpp.

std::vector<bool> youbot::EthercatMasterWithThread::outstandingMailboxMsgFlag

private

Definition at line 217 of file EthercatMasterWithThread.hpp.

std::vector<bool> youbot::EthercatMasterWithThread::pendingMailboxMsgsReply

private

Definition at line 219 of file EthercatMasterWithThread.hpp.

std::vector<YouBotSlaveMsgThreadSafe> youbot::EthercatMasterWithThread::slaveMessages

private

Definition at line 190 of file EthercatMasterWithThread.hpp.

volatile bool youbot::EthercatMasterWithThread::stopThread

private

Definition at line 201 of file EthercatMasterWithThread.hpp.

boost::thread_group youbot::EthercatMasterWithThread::threads

private

Definition at line 199 of file EthercatMasterWithThread.hpp.

unsigned int youbot::EthercatMasterWithThread::timeTillNextEthercatUpdate

private

Definition at line 197 of file EthercatMasterWithThread.hpp.

std::vector<JointTrajectoryController*> youbot::EthercatMasterWithThread::trajectoryControllers

private

Definition at line 237 of file EthercatMasterWithThread.hpp.

boost::mutex youbot::EthercatMasterWithThread::trajectoryControllerVectorMutex

private

Definition at line 239 of file EthercatMasterWithThread.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation