#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
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
	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
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

Detailed Description

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

Definition at line 88 of file EthercatMasterWithThread.hpp.

Constructor & Destructor Documentation

youbot::EthercatMasterWithThread::EthercatMasterWithThread	(	const std::string &	configFile,
		const std::string &	configFilePath
	)		`[private]`

Definition at line 68 of file EthercatMasterWithThread.cpp.

youbot::EthercatMasterWithThread::~EthercatMasterWithThread ( ) [private]

Definition at line 106 of file EthercatMasterWithThread.cpp.

Member Function Documentation

void youbot::EthercatMasterWithThread::AutomaticReceiveOn ( const bool enableAutomaticReceive ) [virtual]

Implements youbot::EthercatMasterInterface.

Definition at line 159 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::AutomaticSendOn ( const bool enableAutomaticSend ) [virtual]

Implements youbot::EthercatMasterInterface.

Definition at line 132 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::closeEthercat ( ) [private]

closes the ethercat connection

Definition at line 484 of file EthercatMasterWithThread.cpp.

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

Definition at line 303 of file EthercatMasterWithThread.cpp.

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

Definition at line 242 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 181 of file EthercatMasterWithThread.cpp.

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

Implements youbot::EthercatMasterInterface.

Definition at line 562 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::getMsgBuffer	(	const unsigned int	jointNumber,
		YouBotSlaveMsg &	returnMsg
	)		`[private, virtual]`

get a ethercat message form the buffer

Parameters:

msgBuffer	ethercat message
jointNumber	joint number of the receiver joint

Implements youbot::EthercatMasterInterface.

Definition at line 528 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 125 of file EthercatMasterWithThread.cpp.

unsigned int youbot::EthercatMasterWithThread::getNumberOfThreadCyclesPerSecond ( )

Definition at line 256 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::initializeEthercat ( ) [private]

establishes the ethercat connection

Definition at line 319 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 216 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::isEtherCATConnectionEstablished ( ) [virtual]

Implements youbot::EthercatMasterInterface.

Definition at line 264 of file EthercatMasterWithThread.cpp.

bool youbot::EthercatMasterWithThread::isThreadActive ( ) [virtual]

Implements youbot::EthercatMasterInterface.

Definition at line 117 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::parseYouBotErrorFlags ( const YouBotSlaveMsg & messageBuffer ) [private]

Definition at line 775 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 602 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 205 of file EthercatMasterWithThread.cpp.

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

Definition at line 287 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::registerJointLimitMonitor	(	JointLimitMonitor *	object,
		const unsigned int	JointNumber
	)		`[virtual]`

Implements youbot::EthercatMasterInterface.

Definition at line 271 of file EthercatMasterWithThread.cpp.

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

Definition at line 225 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 577 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 195 of file EthercatMasterWithThread.cpp.

void youbot::EthercatMasterWithThread::setMailboxMsgBuffer	(	const YouBotSlaveMailboxMsg &	msgBuffer,
		const unsigned int	jointNumber
	)		`[private, virtual]`