Publishes EthercatHardware diagnostics. More...

#include <ethercat_hardware.h>

Public Member Functions
	EthercatHardwareDiagnosticsPublisher (ros::NodeHandle &node)

void	initialize (const string &interface, unsigned int buffer_size, const std::vector< boost::shared_ptr< EthercatDevice > > &slaves, unsigned int num_ethercat_devices_, unsigned timeout, unsigned max_pd_retries)
	Initializes hardware publish. More...

void	publish (const unsigned char *buffer, const EthercatHardwareDiagnostics &diagnostics)
	Triggers publishing of new diagnostics data. More...

void	stop ()
	Stops publishing thread. May block. More...

	~EthercatHardwareDiagnosticsPublisher ()

Private Member Functions
void	diagnosticsThreadFunc ()
	Publishing thread main loop. More...

void	publishDiagnostics ()
	Publishes diagnostics. More...

Static Private Member Functions
static void	timingInformation (diagnostic_updater::DiagnosticStatusWrapper &status, const string &key, const accumulator_set< double, stats< tag::max, tag::mean > > &acc, double max)
	Helper function for converting timing for diagnostics. More...

Private Attributes
unsigned int	buffer_size_

diagnostic_msgs::DiagnosticArray	diagnostic_array_

EthercatHardwareDiagnostics	diagnostics_
	Diagnostics information use by publish function. More...

unsigned char *	diagnostics_buffer_

boost::condition_variable	diagnostics_cond_

boost::mutex	diagnostics_mutex_
	mutex protects all class data and cond variable More...

bool	diagnostics_ready_

boost::thread	diagnostics_thread_

EthernetInterfaceInfo	ethernet_interface_info_
	Information about Ethernet interface used for EtherCAT communication. More...

string	interface_

uint64_t	last_dropped_packet_count_
	Count of dropped packets last diagnostics cycle. More...

ros::Time	last_dropped_packet_time_
	Time last packet was dropped 0 otherwise. Used for warning about dropped packets. More...

unsigned	max_pd_retries_
	Number of times (in a row) to retry sending process data (realtime data) before halting motors. More...

ros::NodeHandle	node_

unsigned int	num_ethercat_devices_

ros::Publisher	publisher_

std::vector< boost::shared_ptr< EthercatDevice > >	slaves_

diagnostic_updater::DiagnosticStatusWrapper	status_

unsigned	timeout_
	Timeout controls how long EtherCAT driver waits for packet before declaring it as dropped. More...

vector< diagnostic_msgs::KeyValue >	values_

Static Private Attributes
static const unsigned	dropped_packet_warning_hold_time_ = 10
	Number of seconds since late dropped packet to keep warning. More...

Detailed Description

Publishes EthercatHardware diagnostics.

All the string formating used for creatign diagnostics is too slow to be run in the realtime thread. Instead, a copy of the raw diagnostics data is made and a separate thread does the string conversion and publishing. Previously, the diagnostics data used by publishing thread was contained in the EthercatHardware class. However, this allowed the publishing thread access to other non thread-safe data. This class keeps the diagnostics data used by the publish thread explicitly separate.

Definition at line 114 of file ethercat_hardware.h.

Constructor & Destructor Documentation

◆ EthercatHardwareDiagnosticsPublisher()

EthercatHardwareDiagnosticsPublisher::EthercatHardwareDiagnosticsPublisher ( ros::NodeHandle & node )

Definition at line 347 of file ethercat_hardware.cpp.

◆ ~EthercatHardwareDiagnosticsPublisher()

EthercatHardwareDiagnosticsPublisher::~EthercatHardwareDiagnosticsPublisher ( )

Definition at line 357 of file ethercat_hardware.cpp.

Member Function Documentation

◆ diagnosticsThreadFunc()

void EthercatHardwareDiagnosticsPublisher::diagnosticsThreadFunc ( )

private

Publishing thread main loop.

Waits for condition variable to start publishing internal data.

Definition at line 409 of file ethercat_hardware.cpp.

◆ initialize()

void EthercatHardwareDiagnosticsPublisher::initialize	(	const string &	interface,
		unsigned int	buffer_size,
		const std::vector< boost::shared_ptr< EthercatDevice > > &	slaves,
		unsigned int	num_ethercat_devices_,
		unsigned	timeout,
		unsigned	max_pd_retries
	)

Initializes hardware publish.

Parameters

buffer_size	size of proccess data buffer
number	of EtherCAT slave devices

Definition at line 362 of file ethercat_hardware.cpp.

◆ publish()

void EthercatHardwareDiagnosticsPublisher::publish	(	const unsigned char *	buffer,
		const EthercatHardwareDiagnostics &	diagnostics
	)

Triggers publishing of new diagnostics data.

Makes copy of diagnostics data and triggers internal thread to started conversion and publish of data. This function will not block.

Definition at line 385 of file ethercat_hardware.cpp.

◆ publishDiagnostics()

void EthercatHardwareDiagnosticsPublisher::publishDiagnostics ( )

private

Publishes diagnostics.

Takes internally saved diagnostics data and converts to a ROS diagnostics status message. This function performs a lot of string formatting, so it is slow.

Definition at line 436 of file ethercat_hardware.cpp.

◆ stop()

void EthercatHardwareDiagnosticsPublisher::stop ( )

Stops publishing thread. May block.

Definition at line 402 of file ethercat_hardware.cpp.

◆ timingInformation()

void EthercatHardwareDiagnosticsPublisher::timingInformation	(	diagnostic_updater::DiagnosticStatusWrapper &	status,
		const string &	key,
		const accumulator_set< double, stats< tag::max, tag::mean > > &	acc,
		double	max
	)

staticprivate

Helper function for converting timing for diagnostics.

Definition at line 425 of file ethercat_hardware.cpp.

Member Data Documentation

◆ buffer_size_

unsigned int EthercatHardwareDiagnosticsPublisher::buffer_size_

private

Definition at line 184 of file ethercat_hardware.h.

◆ diagnostic_array_

diagnostic_msgs::DiagnosticArray EthercatHardwareDiagnosticsPublisher::diagnostic_array_

private

Definition at line 201 of file ethercat_hardware.h.

◆ diagnostics_

EthercatHardwareDiagnostics EthercatHardwareDiagnosticsPublisher::diagnostics_

private

Diagnostics information use by publish function.

Definition at line 182 of file ethercat_hardware.h.

◆ diagnostics_buffer_

unsigned char* EthercatHardwareDiagnosticsPublisher::diagnostics_buffer_

private

Definition at line 183 of file ethercat_hardware.h.

◆ diagnostics_cond_

boost::condition_variable EthercatHardwareDiagnosticsPublisher::diagnostics_cond_

private

Definition at line 176 of file ethercat_hardware.h.

◆ diagnostics_mutex_

boost::mutex EthercatHardwareDiagnosticsPublisher::diagnostics_mutex_

private

mutex protects all class data and cond variable

Definition at line 175 of file ethercat_hardware.h.

◆ diagnostics_ready_

bool EthercatHardwareDiagnosticsPublisher::diagnostics_ready_

private

Definition at line 177 of file ethercat_hardware.h.

◆ diagnostics_thread_

boost::thread EthercatHardwareDiagnosticsPublisher::diagnostics_thread_

private

Definition at line 178 of file ethercat_hardware.h.

◆ dropped_packet_warning_hold_time_

const unsigned EthercatHardwareDiagnosticsPublisher::dropped_packet_warning_hold_time_ = 10

staticprivate

Number of seconds since late dropped packet to keep warning.

Definition at line 199 of file ethercat_hardware.h.

◆ ethernet_interface_info_

EthernetInterfaceInfo EthercatHardwareDiagnosticsPublisher::ethernet_interface_info_

private

Information about Ethernet interface used for EtherCAT communication.

Definition at line 203 of file ethercat_hardware.h.

◆ interface_

string EthercatHardwareDiagnosticsPublisher::interface_

private

Definition at line 187 of file ethercat_hardware.h.

◆ last_dropped_packet_count_

uint64_t EthercatHardwareDiagnosticsPublisher::last_dropped_packet_count_

private

Count of dropped packets last diagnostics cycle.

Definition at line 195 of file ethercat_hardware.h.

◆ last_dropped_packet_time_

ros::Time EthercatHardwareDiagnosticsPublisher::last_dropped_packet_time_

private

Time last packet was dropped 0 otherwise. Used for warning about dropped packets.

Definition at line 197 of file ethercat_hardware.h.

◆ max_pd_retries_

unsigned EthercatHardwareDiagnosticsPublisher::max_pd_retries_

private

Number of times (in a row) to retry sending process data (realtime data) before halting motors.

Definition at line 192 of file ethercat_hardware.h.

◆ node_

ros::NodeHandle EthercatHardwareDiagnosticsPublisher::node_

private

Definition at line 173 of file ethercat_hardware.h.

◆ num_ethercat_devices_

unsigned int EthercatHardwareDiagnosticsPublisher::num_ethercat_devices_

private

Definition at line 186 of file ethercat_hardware.h.

◆ publisher_

ros::Publisher EthercatHardwareDiagnosticsPublisher::publisher_

private

Definition at line 180 of file ethercat_hardware.h.

◆ slaves_

std::vector<boost::shared_ptr<EthercatDevice> > EthercatHardwareDiagnosticsPublisher::slaves_

private

Definition at line 185 of file ethercat_hardware.h.

◆ status_

diagnostic_updater::DiagnosticStatusWrapper EthercatHardwareDiagnosticsPublisher::status_

private

Definition at line 205 of file ethercat_hardware.h.

◆ timeout_

unsigned EthercatHardwareDiagnosticsPublisher::timeout_

private

Timeout controls how long EtherCAT driver waits for packet before declaring it as dropped.

Definition at line 190 of file ethercat_hardware.h.

◆ values_

vector<diagnostic_msgs::KeyValue> EthercatHardwareDiagnosticsPublisher::values_

private

Definition at line 204 of file ethercat_hardware.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EthercatHardwareDiagnosticsPublisher()

◆ ~EthercatHardwareDiagnosticsPublisher()

Member Function Documentation

◆ diagnosticsThreadFunc()

◆ initialize()

◆ publish()

◆ publishDiagnostics()

◆ stop()

◆ timingInformation()

Member Data Documentation

◆ buffer_size_

◆ diagnostic_array_

◆ diagnostics_

◆ diagnostics_buffer_

◆ diagnostics_cond_

◆ diagnostics_mutex_

◆ diagnostics_ready_

◆ diagnostics_thread_

◆ dropped_packet_warning_hold_time_

◆ ethernet_interface_info_

◆ interface_

◆ last_dropped_packet_count_

◆ last_dropped_packet_time_

◆ max_pd_retries_

◆ node_

◆ num_ethercat_devices_

◆ publisher_

◆ slaves_

◆ status_

◆ timeout_

◆ values_