ek1122.cpp
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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 Tue Mar 28 2023 02:10:20