ek1122.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2008, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
36 #include <iomanip>
37 
38 #include <ros/console.h>
39 
41 
42 void EK1122::construct(EtherCAT_SlaveHandler *sh, int &start_address)
43 {
44  EthercatDevice::construct(sh, start_address);
45  sh->set_fmmu_config( new EtherCAT_FMMU_Config(0) );
46  sh->set_pd_config( new EtherCAT_PD_Config(0) );
47 }
48 
50 {
51  delete sh_->get_fmmu_config();
52  delete sh_->get_pd_config();
53 }
54 
56 {
57  ROS_DEBUG("Device #%02d: EK1122 (%#08x)", sh_->get_ring_position(), sh_->get_product_code());
58  return 0;
59 }
61 {
62  stringstream str;
63  str << "EtherCAT Device #" << setw(2) << setfill('0') << sh_->get_ring_position() << " (EK1122)";
64  d.name = str.str();
65  d.summary(0, "OK");
66  char serial[32];
67  snprintf(serial, sizeof(serial), "%d-%05d-%05d", sh_->get_product_code()/ 100000 , sh_->get_product_code() % 100000, sh_->get_serial());
68  d.hardware_id = serial;
69 
70  d.clear();
71  d.addf("Product code", "EK1122 (%u)", sh_->get_product_code());
72 
73  EthercatDevice::ethercatDiagnostics(d, 4); // EK1122 has 4 ports (2 ethernet and 2 lvds)
74 }
void summary(unsigned char lvl, const std::string s)
void ethercatDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
Adds diagnostic information for EtherCAT ports.
int initialize(pr2_hardware_interface::HardwareInterface *, bool)
Definition: ek1122.cpp:55
virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address)
< Construct EtherCAT device
~EK1122()
Definition: ek1122.cpp:49
void addf(const std::string &key, const char *format,...)
Definition: ek1122.h:40
PLUGINLIB_EXPORT_CLASS(EK1122, EthercatDevice)
void construct(EtherCAT_SlaveHandler *sh, int &start_address)
< Construct EtherCAT device
Definition: ek1122.cpp:42
EtherCAT_SlaveHandler * sh_
void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagn...
Definition: ek1122.cpp:60
#define ROS_DEBUG(...)


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Thu Mar 4 2021 03:10:21