sr0x.cpp

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#include <sr_edc_ethercat_drivers/sr0x.h>

#include <sstream>
#include <iomanip>
#include <boost/foreach.hpp>

#include <math.h>

PLUGINLIB_EXPORT_CLASS(SR0X, EthercatDevice);

int SR0X::initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed)
{
  ROS_DEBUG("Device #%02d: SR0%d (%#08x) Firmware Revision %d.%02d, PCB Revision %c.%02d, Serial #: %d",
            sh_->get_ring_position(),
            sh_->get_product_code() % 100,
            sh_->get_product_code(), fw_major_, fw_minor_,
            'A' + board_major_, board_minor_,
            sh_->get_serial());

  device_offset_ = sh_->get_ring_position();  // - hand_->getBridgeRingPosition();

  return 0;
}