00001 #include "riq_hand_ethercat_hardware/ethercat_al.h"
00002 #include "ethercat_hardware/ethercat_device.h"
00003
00004 namespace riq_hand_ethercat_hardware
00005 {
00006
00007 const char* ECatStates::stateString(unsigned state)
00008 {
00009 switch(state)
00010 {
00011 case INIT: return "Init";
00012 case BOOTSTRAP: return "Bootstap";
00013 case PREOP: return "PreOP";
00014 case SAFEOP: return "SafeOP";
00015 case OP: return "OP";
00016 default: return "Invalid";
00017 }
00018 }
00019
00020
00021 const char* ECatALStatusCode::errorCodeString(unsigned code)
00022 {
00023 switch(code)
00024 {
00025 case NO_ERROR:
00026 return "No error";
00027 case SYNC_MANAGER_WATCHDOG:
00028 return "Sync manager watchdog";
00029 default: return "Unknown";
00030 }
00031 }
00032
00033 bool ECatALStatusAll::readData(EthercatCom *com, EtherCAT_SlaveHandler *sh)
00034 {
00035 int result = EthercatDevice::readData(com, sh, BASE_ADDR, this, sizeof(*this), EthercatDevice::FIXED_ADDR);
00036 if (result != 0)
00037 {
00038 return false;
00039 }
00040 return true;
00041 }
00042
00043 void ECatALStatusAll::sizeAssert()
00044 {
00045 BOOST_STATIC_ASSERT(sizeof(ECatALStatusAll) == 6);
00046 }
00047
00048
00049 bool ECatALControl::writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh) const
00050 {
00051 int result = EthercatDevice::writeData(com, sh, BASE_ADDR, this, sizeof(*this), EthercatDevice::FIXED_ADDR);
00052 if (result != 0)
00053 {
00054 return false;
00055 }
00056 return true;
00057 }
00058
00059 void ECatALControl::sizeAssert()
00060 {
00061 BOOST_STATIC_ASSERT(sizeof(ECatALControl) == 2);
00062 }
00063
00064 };
00065
