#include <EthercatMasterWithoutThread.hpp>

Inheritance diagram for youbot::EthercatMasterWithoutThread:

Public Member Functions
void	AutomaticReceiveOn (const bool enableAutomaticReceive)
void	AutomaticSendOn (const bool enableAutomaticSend)
void	getEthercatDiagnosticInformation (std::vector< ec_slavet > &ethercatSlaveInfos)
unsigned int	getNumberOfSlaves () const
	return the quantity of ethercat slave which have an input/output buffer
bool	isErrorInSoemDriver ()
bool	isEtherCATConnectionEstablished ()
bool	isThreadActive ()
bool	receiveProcessData ()
void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)
bool	sendProcessData ()
Private Member Functions
bool	closeEthercat ()
	closes the ethercat connection
	EthercatMasterWithoutThread (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)
	~EthercatMasterWithoutThread ()
Private Attributes
ConfigFile *	configfile
bool	ethercatConnectionEstablished
std::vector< SlaveMessageInput * >	ethercatInputBufferVector
std::vector< SlaveMessageOutput * >	ethercatOutputBufferVector
std::vector< ec_slavet >	ethercatSlaveInfo
unsigned int	ethercatTimeout
std::string	ethernetDevice
std::vector < YouBotSlaveMailboxMsg >	firstMailboxBufferVector
char	IOmap_ [4096]
ec_mbxbuft	mailboxBufferReceive
ec_mbxbuft	mailboxBufferSend
unsigned int	mailboxTimeout
unsigned int	nrOfSlaves
std::vector< YouBotSlaveMsg >	processDataBuffer
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 87 of file EthercatMasterWithoutThread.hpp.

Constructor & Destructor Documentation

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

Definition at line 67 of file EthercatMasterWithoutThread.cpp.

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

Definition at line 98 of file EthercatMasterWithoutThread.cpp.

Member Function Documentation

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

Implements youbot::EthercatMasterInterface.

Definition at line 131 of file EthercatMasterWithoutThread.cpp.

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

Implements youbot::EthercatMasterInterface.

Definition at line 122 of file EthercatMasterWithoutThread.cpp.

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

closes the ethercat connection

Definition at line 377 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::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 141 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::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 436 of file EthercatMasterWithoutThread.cpp.

void youbot::EthercatMasterWithoutThread::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 410 of file EthercatMasterWithoutThread.cpp.

unsigned int youbot::EthercatMasterWithoutThread::getNumberOfSlaves ( ) const [virtual]

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

Implements youbot::EthercatMasterInterface.

Definition at line 115 of file EthercatMasterWithoutThread.cpp.

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

establishes the ethercat connection

Definition at line 225 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::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 201 of file EthercatMasterWithoutThread.cpp.

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

Implements youbot::EthercatMasterInterface.

Definition at line 210 of file EthercatMasterWithoutThread.cpp.

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

Implements youbot::EthercatMasterInterface.

Definition at line 107 of file EthercatMasterWithoutThread.cpp.

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

Definition at line 488 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::receiveMailboxMessage ( YouBotSlaveMailboxMsg & mailboxMsg ) [private]

receives mailbox messages and stores them in the buffer

Parameters:

mailboxMsg ethercat mailbox message

Definition at line 471 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::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 178 of file EthercatMasterWithoutThread.cpp.

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

Implements youbot::EthercatMasterInterface.

Definition at line 217 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::sendMailboxMessage ( const YouBotSlaveMailboxMsg & mailboxMsg ) [private]

sends the mailbox Messages which have been stored in the buffer

Parameters:

mailboxMsg ethercat mailbox message

Definition at line 447 of file EthercatMasterWithoutThread.cpp.

bool youbot::EthercatMasterWithoutThread::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 155 of file EthercatMasterWithoutThread.cpp.

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