Inherits from RokubiminiBusManager. It's used for managing an Ethercat bus. More...

#include <RokubiminiEthercatBusManager.hpp>

Inheritance diagram for rokubimini::ethercat::RokubiminiEthercatBusManager:

Public Member Functions
virtual bool	addRokubiminiToBus (const std::shared_ptr< Rokubimini > &rokubimini) const

bool	addRokubiminiToBus (const std::shared_ptr< RokubiminiEthercat > &rokubimini, rokubimini::soem_interface::EthercatBusBase *bus) const
	Adds a Rokubimini to Bus. More...

bool	createRokubimini (const std::string &rokubiminiName) override
	Creates an RokubiminiEthercat instance. More...

bool	loadBusParameters () override
	Loads ethercat bus parameters from parameter server. More...

double	loadTimeStep () override
	Loads the time_step from the Parameter Server. More...

void	publishBusManagerRosDiagnostics () override
	Publish the ROS Diagnostics of the Bus Manager. More...

void	readBus () override
	Calls update read on the bus. More...

	RokubiminiEthercatBusManager ()=delete
	Default constructor of RokubiminiEthercatBusManager. More...

	RokubiminiEthercatBusManager (const NodeHandlePtr &nh)

	RokubiminiEthercatBusManager (const std::string &busName, NodeHandlePtr nh)
	Constructor with initialization list for the name and NodeHandle. More...

void	setBusOperational ()
	Sets bus to operational state. More...

void	setBusPreOperational ()
	Sets bus to pre operational state. More...

void	setBusSafeOperational ()
	Sets bus to safe operational state. More...

void	setConfigMode () override

void	setRunMode () override

void	shutdownBus () override
	Calls shutdown on the bus. More...

bool	startupBus ()
	Starts up the bus and puts them in operational mode. More...

bool	startupCommunication () override
	Starts up the bus. More...

void	waitForState (const uint16_t state, const uint16_t slave=0, const unsigned int maxRetries=40, const double retrySleep=0.001)
	Waits for the slave to reach a state. More...

void	writeToBus () override
	Calls update write on the bus. More...

	~RokubiminiEthercatBusManager () override=default

Public Member Functions inherited from rokubimini::RokubiminiBusManager
virtual bool	addRokubiminiToBus (const std::shared_ptr< Rokubimini > &rokubimini) const

void	cleanup () override

void	createRokubiminiRosDiagnostics () const

void	createRokubiminiRosPublishers () const

void	createRokubiminiRosServices () const

virtual bool	createRokubiminisFromParamServer ()

std::string	getName () const

std::shared_ptr< Rokubimini >	getRokubimini (const std::string &name) const

std::vector< std::shared_ptr< Rokubimini > >	getRokubiminis () const

bool	hasRokubimini (const std::string &name)

bool	init () override

virtual bool	load ()

void	publishRokubiminiRosDiagnostics () const

void	publishRosMessages () const

	RokubiminiBusManager ()=delete

	RokubiminiBusManager (const NodeHandlePtr &nh)

	RokubiminiBusManager (const std::string &busName, NodeHandlePtr nh)

void	setNodeHandle (const NodeHandlePtr &nh)

virtual void	shutdown ()

void	shutdownWithCommunication () const

void	shutdownWithoutCommunication () const

virtual bool	startup ()

void	startupWithCommunication () const

void	startupWithoutCommunication () const

virtual bool	update (const bota_worker::WorkerEvent &event)

void	updateProcessReading () const

	~RokubiminiBusManager () override=default

Protected Attributes
std::unique_ptr< rokubimini::soem_interface::EthercatBusBase >	bus_
	The Ethercat bus instance. More...

std::recursive_mutex	busMutex_
	Mutex prohibiting simultaneous access to EtherCAT bus manager. More...

std::string	ethercatBusName_
	The name of the Ethercat bus. More...

Protected Attributes inherited from rokubimini::RokubiminiBusManager
std::atomic< bool >	isRunning_

std::string	name_

NodeHandlePtr	nh_

std::vector< std::shared_ptr< Rokubimini > >	rokubiminis_

Additional Inherited Members
Public Types inherited from rokubimini::RokubiminiBusManager
typedef std::shared_ptr< diagnostic_updater::Updater >	DiagnosticsUpdaterPtr

typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

Detailed Description

Inherits from RokubiminiBusManager. It's used for managing an Ethercat bus.

Definition at line 27 of file RokubiminiEthercatBusManager.hpp.

Constructor & Destructor Documentation

◆ RokubiminiEthercatBusManager() [1/3]

rokubimini::ethercat::RokubiminiEthercatBusManager::RokubiminiEthercatBusManager ( )

delete

Default constructor of RokubiminiEthercatBusManager.

◆ RokubiminiEthercatBusManager() [2/3]

rokubimini::ethercat::RokubiminiEthercatBusManager::RokubiminiEthercatBusManager	(	const std::string &	busName,
		NodeHandlePtr	nh
	)

inlineexplicit

Constructor with initialization list for the name and NodeHandle.

Definition at line 44 of file RokubiminiEthercatBusManager.hpp.

◆ RokubiminiEthercatBusManager() [3/3]

rokubimini::ethercat::RokubiminiEthercatBusManager::RokubiminiEthercatBusManager ( const NodeHandlePtr & nh )

inlineexplicit

Definition at line 53 of file RokubiminiEthercatBusManager.hpp.

◆ ~RokubiminiEthercatBusManager()

rokubimini::ethercat::RokubiminiEthercatBusManager::~RokubiminiEthercatBusManager ( )

overridedefault

Member Function Documentation

◆ addRokubiminiToBus() [1/2]

virtual bool rokubimini::RokubiminiBusManager::addRokubiminiToBus

◆ addRokubiminiToBus() [2/2]

bool rokubimini::ethercat::RokubiminiEthercatBusManager::addRokubiminiToBus	(	const std::shared_ptr< RokubiminiEthercat > &	rokubimini,
		rokubimini::soem_interface::EthercatBusBase *	bus
	)		const

Adds a Rokubimini to Bus.

This method is used for adding a Rokubimini Ethercat instance to the Ethercat Bus. This method also adds the EthercatSlave pointer to the Rokubimini Ethercat implementation.

Parameters

rokubimini	The RokubiminiEthercat instance.
bus	The bus to which the RokubiminiEthercat will be attached.

Definition at line 66 of file RokubiminiEthercatBusManager.cpp.

◆ createRokubimini()

bool rokubimini::ethercat::RokubiminiEthercatBusManager::createRokubimini ( const std::string & rokubiminiName )

overridevirtual

Creates an RokubiminiEthercat instance.

This function creates a RokubiminiEthercat instance based on a given name and attaches it to the bus.

Parameters

rokubiminiName The name of the Rokubimini.

Returns: True if the operation succeeded.

Implements rokubimini::RokubiminiBusManager.

Definition at line 35 of file RokubiminiEthercatBusManager.cpp.

◆ loadBusParameters()

bool rokubimini::ethercat::RokubiminiEthercatBusManager::loadBusParameters ( )

overridevirtual

Loads ethercat bus parameters from parameter server.

Implements rokubimini::RokubiminiBusManager.

Definition at line 51 of file RokubiminiEthercatBusManager.cpp.

◆ loadTimeStep()

double rokubimini::ethercat::RokubiminiEthercatBusManager::loadTimeStep ( )

overridevirtual

Loads the time_step from the Parameter Server.

Implements rokubimini::RokubiminiBusManager.

Definition at line 7 of file RokubiminiEthercatBusManager.cpp.

◆ publishBusManagerRosDiagnostics()

void rokubimini::ethercat::RokubiminiEthercatBusManager::publishBusManagerRosDiagnostics ( )

inlineoverridevirtual

Publish the ROS Diagnostics of the Bus Manager.

Implements rokubimini::RokubiminiBusManager.

Definition at line 194 of file RokubiminiEthercatBusManager.hpp.

◆ readBus()

void rokubimini::ethercat::RokubiminiEthercatBusManager::readBus ( )

overridevirtual

Calls update read on the bus.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 156 of file RokubiminiEthercatBusManager.cpp.

◆ setBusOperational()

void rokubimini::ethercat::RokubiminiEthercatBusManager::setBusOperational ( )

Sets bus to operational state.

Definition at line 117 of file RokubiminiEthercatBusManager.cpp.

◆ setBusPreOperational()

void rokubimini::ethercat::RokubiminiEthercatBusManager::setBusPreOperational ( )

Sets bus to pre operational state.

Definition at line 124 of file RokubiminiEthercatBusManager.cpp.

◆ setBusSafeOperational()

void rokubimini::ethercat::RokubiminiEthercatBusManager::setBusSafeOperational ( )

Sets bus to safe operational state.

Definition at line 131 of file RokubiminiEthercatBusManager.cpp.

◆ setConfigMode()

void rokubimini::ethercat::RokubiminiEthercatBusManager::setConfigMode ( )

overridevirtual

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 98 of file RokubiminiEthercatBusManager.cpp.

◆ setRunMode()

void rokubimini::ethercat::RokubiminiEthercatBusManager::setRunMode ( )

overridevirtual

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 104 of file RokubiminiEthercatBusManager.cpp.

◆ shutdownBus()

void rokubimini::ethercat::RokubiminiEthercatBusManager::shutdownBus ( )

overridevirtual

Calls shutdown on the bus.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 168 of file RokubiminiEthercatBusManager.cpp.

◆ startupBus()

bool rokubimini::ethercat::RokubiminiEthercatBusManager::startupBus ( )

Starts up the bus and puts them in operational mode.

Returns: True if successful

Definition at line 110 of file RokubiminiEthercatBusManager.cpp.

◆ startupCommunication()

bool rokubimini::ethercat::RokubiminiEthercatBusManager::startupCommunication ( )

overridevirtual

Starts up the bus.

Returns: True if successful

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 145 of file RokubiminiEthercatBusManager.cpp.

◆ waitForState()

void rokubimini::ethercat::RokubiminiEthercatBusManager::waitForState	(	const uint16_t	state,
		const uint16_t	slave = `0`,
		const unsigned int	maxRetries = `40`,
		const double	retrySleep = `0.001`
	)

Waits for the slave to reach a state.

Parameters

[in]	state	Ethercat state
[in]	slave	Slave address, 0 = all slaves
[in]	maxRetries	The maximum retries
[in]	retrySleep	The retry sleep

Definition at line 138 of file RokubiminiEthercatBusManager.cpp.

◆ writeToBus()

void rokubimini::ethercat::RokubiminiEthercatBusManager::writeToBus ( )

overridevirtual

Calls update write on the bus.

Reimplemented from rokubimini::RokubiminiBusManager.

Definition at line 162 of file RokubiminiEthercatBusManager.cpp.

Member Data Documentation

◆ bus_

std::unique_ptr< rokubimini::soem_interface::EthercatBusBase > rokubimini::ethercat::RokubiminiEthercatBusManager::bus_

protected

The Ethercat bus instance.

Definition at line 210 of file RokubiminiEthercatBusManager.hpp.

◆ busMutex_

std::recursive_mutex rokubimini::ethercat::RokubiminiEthercatBusManager::busMutex_

protected

Mutex prohibiting simultaneous access to EtherCAT bus manager.

Definition at line 203 of file RokubiminiEthercatBusManager.hpp.

◆ ethercatBusName_

std::string rokubimini::ethercat::RokubiminiEthercatBusManager::ethercatBusName_

protected

The name of the Ethercat bus.

Definition at line 218 of file RokubiminiEthercatBusManager.hpp.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RokubiminiEthercatBusManager() [1/3]

◆ RokubiminiEthercatBusManager() [2/3]

◆ RokubiminiEthercatBusManager() [3/3]

◆ ~RokubiminiEthercatBusManager()

Member Function Documentation

◆ addRokubiminiToBus() [1/2]

◆ addRokubiminiToBus() [2/2]

◆ createRokubimini()

◆ loadBusParameters()

◆ loadTimeStep()

◆ publishBusManagerRosDiagnostics()

◆ readBus()

◆ setBusOperational()

◆ setBusPreOperational()

◆ setBusSafeOperational()

◆ setConfigMode()

◆ setRunMode()

◆ shutdownBus()

◆ startupBus()

◆ startupCommunication()

◆ waitForState()

◆ writeToBus()

Member Data Documentation

◆ bus_

◆ busMutex_

◆ ethercatBusName_