sr_edc_ethercat_drivers::MotorTraceBuffer Class Reference

Class to buffer and publish previous 1-second of motor data. More...

#include <motor_trace_buffer.h>

Inheritance diagram for sr_edc_ethercat_drivers::MotorTraceBuffer:

List of all members.

Public Member Functions
void	checkPublish ()
	Publishes motor trace if delay time is up.
void	flagPublish (const std::string &reason, int level, int delay)
	flags delayed publish of motor trace.
bool	initialize (const sr_edc_ethercat_drivers::ActuatorInfo &actuator_info)
	Initializes motor trace publisher.
	MotorTraceBuffer (unsigned trace_size)
void	reset ()
void	sample (const sr_edc_ethercat_drivers::MotorTraceSample &s)
	Adds sample to motor trace.
Protected Attributes
int	publish_delay_
int	publish_level_
std::string	publish_reason_
unsigned	published_traces_
	number of times motor trace has been published
realtime_tools::RealtimePublisher < sr_edc_ethercat_drivers::MotorTrace > *	publisher_
std::vector < sr_edc_ethercat_drivers::MotorTraceSample >	trace_buffer_
unsigned	trace_index_
	index of most recent element in trace vector
unsigned	trace_size_
	size of trace vector

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Detailed Description

Class to buffer and publish previous 1-second of motor data.

Data is sampled with each cycle of realtime loop (1kHz) so that there is too much data to be published continuouly. Instead of continuously publishing data, the trace buffers the previous X seconds of samples. Publishing can be triggered as result of event or request.

Definition at line 50 of file motor_trace_buffer.h.

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Constructor & Destructor Documentation

sr_edc_ethercat_drivers::MotorTraceBuffer::MotorTraceBuffer

(

unsigned

trace_size

)

Definition at line 36 of file motor_trace_buffer.cpp.

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Member Function Documentation

void sr_edc_ethercat_drivers::MotorTraceBuffer::checkPublish

(

)

Publishes motor trace if delay time is up.

Definition at line 75 of file motor_trace_buffer.cpp.

void sr_edc_ethercat_drivers::MotorTraceBuffer::flagPublish	(	const std::string &	reason,
		int	level,
		int	delay
	)

flags delayed publish of motor trace.

New publish will only take precedence of previous publish iff level is higher than previous level

Definition at line 115 of file motor_trace_buffer.cpp.

bool sr_edc_ethercat_drivers::MotorTraceBuffer::initialize

(

const sr_edc_ethercat_drivers::ActuatorInfo &

actuator_info

)

Initializes motor trace publisher.

Definition at line 56 of file motor_trace_buffer.cpp.

void sr_edc_ethercat_drivers::MotorTraceBuffer::reset

(

)

Definition at line 46 of file motor_trace_buffer.cpp.

void sr_edc_ethercat_drivers::MotorTraceBuffer::sample

(

const sr_edc_ethercat_drivers::MotorTraceSample &

s

)

Adds sample to motor trace.

Definition at line 133 of file motor_trace_buffer.cpp.

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Member Data Documentation

int sr_edc_ethercat_drivers::MotorTraceBuffer::publish_delay_ [protected]

Definition at line 65 of file motor_trace_buffer.h.

int sr_edc_ethercat_drivers::MotorTraceBuffer::publish_level_ [protected]

Definition at line 66 of file motor_trace_buffer.h.

std::string sr_edc_ethercat_drivers::MotorTraceBuffer::publish_reason_ [protected]

Definition at line 67 of file motor_trace_buffer.h.

unsigned sr_edc_ethercat_drivers::MotorTraceBuffer::published_traces_ [protected]

number of times motor trace has been published

Definition at line 62 of file motor_trace_buffer.h.

realtime_tools::RealtimePublisher<sr_edc_ethercat_drivers::MotorTrace>* sr_edc_ethercat_drivers::MotorTraceBuffer::publisher_ [protected]

Definition at line 64 of file motor_trace_buffer.h.

std::vector<sr_edc_ethercat_drivers::MotorTraceSample> sr_edc_ethercat_drivers::MotorTraceBuffer::trace_buffer_ [protected]

Definition at line 63 of file motor_trace_buffer.h.

unsigned sr_edc_ethercat_drivers::MotorTraceBuffer::trace_index_ [protected]

index of most recent element in trace vector

Definition at line 61 of file motor_trace_buffer.h.

unsigned sr_edc_ethercat_drivers::MotorTraceBuffer::trace_size_ [protected]

size of trace vector

Definition at line 60 of file motor_trace_buffer.h.

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

• motor_trace_buffer.h
• motor_trace_buffer.cpp