wg_mailbox.h
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34 
35 #pragma once
36 
39 
40 namespace ethercat_hardware
41 {
42 
43 
45 {
47  uint32_t write_errors_;
48  uint32_t read_errors_;
49  uint32_t lock_errors_;
50  uint32_t retries_;
51  uint32_t retry_errors_;
52 };
53 
54 
55 class WGMailbox
56 {
57 public:
58  WGMailbox();
59 
60  bool initialize(EtherCAT_SlaveHandler *sh);
61  int writeMailbox(EthercatCom *com, unsigned address, void const *data, unsigned length);
62  int readMailbox(EthercatCom *com, unsigned address, void *data, unsigned length);
63  void publishMailboxDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &d);
64 
65  static const unsigned MBX_COMMAND_PHY_ADDR = 0x1400;
66  static const unsigned MBX_COMMAND_SIZE = 512;
67  static const unsigned MBX_STATUS_PHY_ADDR = 0x2400;
68  static const unsigned MBX_STATUS_SIZE = 512;
69 
70  static const unsigned MBX_COMMAND_SYNCMAN_NUM = 2;
71  static const unsigned MBX_STATUS_SYNCMAN_NUM = 3;
72 
73 protected:
74  // Each WG0X device can only support one mailbox operation at a time
75  bool lockMailbox();
76  void unlockMailbox();
77  pthread_mutex_t mailbox_lock_;
80 
81  // Mailbox helper functions
82  int writeMailbox_(EthercatCom *com, unsigned address, void const *data, unsigned length);
83  int readMailbox_(EthercatCom *com, unsigned address, void *data, unsigned length);
84  bool verifyDeviceStateForMailboxOperation();
85  bool clearReadMailbox(EthercatCom *com);
86  bool waitForReadMailboxReady(EthercatCom *com);
87  bool waitForWriteMailboxReady(EthercatCom *com);
88  bool readMailboxRepeatRequest(EthercatCom *com);
89  bool _readMailboxRepeatRequest(EthercatCom *com);
90  bool writeMailboxInternal(EthercatCom *com, void const *data, unsigned length);
91  bool readMailboxInternal(EthercatCom *com, void *data, unsigned length);
92  void diagnoseMailboxError(EthercatCom *com);
93 
94  EtherCAT_SlaveHandler *sh_;
95 };
96 
97 
98 }; //end namespace ethercat_hardware
d
uint16_t length
Definition: wg_util.h:119
ROSCONSOLE_DECL void initialize()
pthread_mutex_t mailbox_lock_
Definition: wg_mailbox.h:77
data
MbxDiagnostics mailbox_publish_diagnostics_
Definition: wg_mailbox.h:79
MbxDiagnostics mailbox_diagnostics_
Definition: wg_mailbox.h:78
EtherCAT_SlaveHandler * sh_
Definition: wg_mailbox.h:94


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Tue Mar 28 2023 02:10:20