The EMCY class handles the spontaneously occurring Emergency (EMCY) messages, keeps track of a nodes EMCY state and offers translation of the error codes to human readable form. More...

#include <EMCY.h>

Public Types
typedef boost::shared_ptr< const EMCY >	ConstPtr

enum	eEMCY_STATUS { EMCY_STATE_ERROR_FREE, EMCY_STATE_ERROR_OCCURED }
	DS301 requests state error_free and error_occurred. This could be mapped into a bool, but maybe some other implementation needs more states, so we use an enum. More...

typedef boost::shared_ptr< EMCY >	Ptr

Public Member Functions
void	clearErrorHistory (SDO &sdo)
	Clear the error register 0x1003. More...

	EMCY (const uint8_t node_id)
	EMCY Constructs a new EMCY object. The error map will be filled separately. More...

eEMCY_STATUS	getEmcyStatus () const
	Returns the state of the EMCY state machine. More...

bool	getErrorInformation (uint16_t &eec, uint8_t &error_register, std::vector< uint8_t > &msef)
	Returns the full error information. More...

void	printError (SDO &sdo, const uint8_t error_nr=1)
	Prints a specific error from the error register 0x1003. More...

void	printLastErrors (SDO &sdo)
	Print all errors present in error register 0x1003. More...

virtual void	update (const CanMsg &msg)
	update Updates the EMCY object with a received EMCY Message More...

Static Public Member Functions
static void	addEmergencyErrorMap (const std::string &filename, const std::string &block_identifier)
	Adds new information from an ini file to the emergency error map. More...

static void	addErrorRegisterMap (const std::string &filename, const std::string &block_identifier)
	Adds new information from an ini file to the error_register map. More...

Static Public Attributes
static const uint16_t	EMCY_ERROR_RESET_NO_ERROR = 0x0000

Protected Member Functions
virtual std::string	lookupMSEFString () const

Static Private Member Functions
static std::string	lookupEECString (const uint16_t error_code)

static std::string	lookupErrorRegisterString (const uint8_t error_code)

Private Attributes
boost::mutex	m_data_buffer_mutex

uint16_t	m_eec
	emergency_error_code; More...

uint8_t	m_error_register
	register in which the error occured More...

eEMCY_STATUS	m_error_state

std::vector< uint8_t >	m_msef
	manufacturer-specific error code More...

uint8_t	m_node_id

Static Private Attributes
static std::map< uint16_t, std::string >	m_eec_map

static std::map< uint8_t, std::string >	m_error_register_map

Detailed Description

The EMCY class handles the spontaneously occurring Emergency (EMCY) messages, keeps track of a nodes EMCY state and offers translation of the error codes to human readable form.

The EMCY class is used by the CanOpenNodes to store and retrieve the Emergency messages associated with a specific node. It handles incoming emcy messages and provides the required calls to reset them. It also stores extensive lookup tables for the error messages. This EMCY class is meant as a base class for generic DS301 errors and can be derived to produce more specific error messages regarding the used profile or specific device.

Definition at line 42 of file EMCY.h.

Member Typedef Documentation

typedef boost::shared_ptr<const EMCY> icl_hardware::canopen_schunk::EMCY::ConstPtr

Definition at line 46 of file EMCY.h.

typedef boost::shared_ptr<EMCY> icl_hardware::canopen_schunk::EMCY::Ptr

Definition at line 45 of file EMCY.h.

Member Enumeration Documentation

enum icl_hardware::canopen_schunk::EMCY::eEMCY_STATUS

DS301 requests state error_free and error_occurred. This could be mapped into a bool, but maybe some other implementation needs more states, so we use an enum.

Enumerator
EMCY_STATE_ERROR_FREE
EMCY_STATE_ERROR_OCCURED

Definition at line 52 of file EMCY.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::EMCY::EMCY ( const uint8_t node_id )

EMCY Constructs a new EMCY object. The error map will be filled separately.

Definition at line 38 of file EMCY.cpp.

Member Function Documentation

void icl_hardware::canopen_schunk::EMCY::addEmergencyErrorMap	(	const std::string &	filename,
		const std::string &	block_identifier
	)

static

Adds new information from an ini file to the emergency error map.

Parameters

filename	Filename of the ini file
block_identifier	Block identifier (the one in [] brackets)

Definition at line 213 of file EMCY.cpp.

void icl_hardware::canopen_schunk::EMCY::addErrorRegisterMap	(	const std::string &	filename,
		const std::string &	block_identifier
	)

static

Adds new information from an ini file to the error_register map.

Parameters

filename	Filename of the ini file
block_identifier	Block identifier (the one in [] brackets)

Definition at line 225 of file EMCY.cpp.

void icl_hardware::canopen_schunk::EMCY::clearErrorHistory ( SDO & sdo )

Clear the error register 0x1003.

Note: This will set the EMCY state machine to error_free

Parameters

sdo	Handle to the node's sdo object for communication

Exceptions

Every exception that can occur in an SDO download

Definition at line 274 of file EMCY.cpp.

EMCY::eEMCY_STATUS icl_hardware::canopen_schunk::EMCY::getEmcyStatus ( ) const

Returns the state of the EMCY state machine.

Definition at line 93 of file EMCY.cpp.

bool icl_hardware::canopen_schunk::EMCY::getErrorInformation	(	uint16_t &	eec,
		uint8_t &	error_register,
		std::vector< uint8_t > &	msef
	)

Returns the full error information.

Parameters

[out]	eec	Emergency error code
[out]	error_register	Error register
[out]	msef	Manifacturer specific error code

Returns: True if this device is in an erroneous state, false otherwise

Definition at line 99 of file EMCY.cpp.

std::string icl_hardware::canopen_schunk::EMCY::lookupEECString ( const uint16_t error_code )

staticprivate

Definition at line 115 of file EMCY.cpp.

std::string icl_hardware::canopen_schunk::EMCY::lookupErrorRegisterString ( const uint8_t error_code )

staticprivate

Definition at line 178 of file EMCY.cpp.

std::string icl_hardware::canopen_schunk::EMCY::lookupMSEFString ( ) const

protectedvirtual

Definition at line 208 of file EMCY.cpp.

void icl_hardware::canopen_schunk::EMCY::printError	(	SDO &	sdo,
		const uint8_t	error_nr = `1`
	)

Prints a specific error from the error register 0x1003.

Note: If the error under the given error_nr does not exist this will throw a TransferAbortException.

Parameters

sdo	Handle to the node's sdo object for communication
error_nr	Subindex that should be printed

Exceptions

TransferAbortException	if error_nr does not exist
Every	Exception that can occur during SDO downloads

Definition at line 237 of file EMCY.cpp.

void icl_hardware::canopen_schunk::EMCY::printLastErrors ( SDO & sdo )

Print all errors present in error register 0x1003.

Parameters

sdo	Handle to the node's sdo object for communication

Exceptions

Every exception that can occur in an SDO communication

Definition at line 258 of file EMCY.cpp.

void icl_hardware::canopen_schunk::EMCY::update ( const CanMsg & msg )

virtual

update Updates the EMCY object with a received EMCY Message

Parameters

msg	Received Can Message that was already determined to be an EMCY message

Definition at line 43 of file EMCY.cpp.

Member Data Documentation

const uint16_t icl_hardware::canopen_schunk::EMCY::EMCY_ERROR_RESET_NO_ERROR = 0x0000

static

Definition at line 58 of file EMCY.h.

boost::mutex icl_hardware::canopen_schunk::EMCY::m_data_buffer_mutex

private

Definition at line 155 of file EMCY.h.

uint16_t icl_hardware::canopen_schunk::EMCY::m_eec

private

emergency_error_code;

Definition at line 151 of file EMCY.h.

std::map< uint16_t, std::string > icl_hardware::canopen_schunk::EMCY::m_eec_map

staticprivate

Definition at line 157 of file EMCY.h.

uint8_t icl_hardware::canopen_schunk::EMCY::m_error_register

private

register in which the error occured

Definition at line 148 of file EMCY.h.

std::map< uint8_t, std::string > icl_hardware::canopen_schunk::EMCY::m_error_register_map

staticprivate

Definition at line 158 of file EMCY.h.

eEMCY_STATUS icl_hardware::canopen_schunk::EMCY::m_error_state

private

Definition at line 153 of file EMCY.h.

std::vector<uint8_t> icl_hardware::canopen_schunk::EMCY::m_msef

private

manufacturer-specific error code

Definition at line 145 of file EMCY.h.

uint8_t icl_hardware::canopen_schunk::EMCY::m_node_id

private

Definition at line 142 of file EMCY.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation