wg014.cpp
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34 
36 #include <iomanip>
37 
38 #include <ros/console.h>
39 
41 
42 void WG014::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  fw_major_ = (sh->get_revision() >> 8) & 0xff;
49  fw_minor_ = sh->get_revision() & 0xff;
50  board_major_ = ((sh->get_revision() >> 24) & 0xff) - 1;
51  board_minor_ = (sh->get_revision() >> 16) & 0xff;
52 }
53 
55 {
56  delete sh_->get_fmmu_config();
57  delete sh_->get_pd_config();
58 }
59 
61 {
62  ROS_DEBUG("Device #%02d: WG014 (%#08x)", sh_->get_ring_position(), sh_->get_product_code());
63  return 0;
64 }
65 
67 {
68  stringstream str;
69  str << "EtherCAT Device #" << setw(2) << setfill('0') << sh_->get_ring_position() << " (WG014)";
70  d.name = str.str();
71  d.summary(0, "OK");
72  char serial[32];
73  snprintf(serial, sizeof(serial), "%d-%05d-%05d", sh_->get_product_code()/ 100000 , sh_->get_product_code() % 100000, sh_->get_serial());
74  d.hardware_id = serial;
75 
76  d.clear();
77  d.addf("Product code", "WG014 (%d), Ports %s, PCB Revision %c.%02d",
78  sh_->get_product_code(),
79  ((fw_minor_==1) ? "J1-J3" : // WG014 has two ET1100 devices...
80  (fw_minor_==2) ? "J4-J6" : // One ET1100 handles port J1 to J3. The other, J4 to J6.
81  "J?-J?"), // The firmware minor revision deferentiates the two.
82  'A' + board_major_, board_minor_);
83  d.addf("Serial Number", "%s", serial);
84 
85  EthercatDevice::ethercatDiagnostics(d, 4); // WG014 has 4 ports
86 }
void summary(unsigned char lvl, const std::string s)
uint8_t board_major_
Definition: wg014.h:53
void ethercatDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
Adds diagnostic information for EtherCAT ports.
virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address)
< Construct EtherCAT device
void construct(EtherCAT_SlaveHandler *sh, int &start_address)
< Construct EtherCAT device
Definition: wg014.cpp:42
void addf(const std::string &key, const char *format,...)
uint8_t board_minor_
Definition: wg014.h:54
uint8_t fw_minor_
Definition: wg014.h:52
EtherCAT_SlaveHandler * sh_
~WG014()
Definition: wg014.cpp:54
void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagn...
Definition: wg014.cpp:66
uint8_t fw_major_
Definition: wg014.h:51
PLUGINLIB_EXPORT_CLASS(WG014, EthercatDevice)
Definition: wg014.h:40
int initialize(pr2_hardware_interface::HardwareInterface *, bool)
Definition: wg014.cpp:60
#define ROS_DEBUG(...)


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