#include <RokubiminiEthercat.hpp>

Inheritance diagram for rokubimini::ethercat::RokubiminiEthercat:

Public Member Functions
void	createRosDiagnostics () override
	Adds ROS diagnostics related to the operation of rokubimini. More...

void	createRosPublishers () override
	Adds ROS publishers related to the device. More...

void	createRosServices () override
	Adds ROS services related to the device. More...

bool	deviceIsMissing () const override
	Checks if the device is missing. More...

bool	firmwareUpdateCallback (rokubimini_msgs::FirmwareUpdateEthercat::Request &request, rokubimini_msgs::FirmwareUpdateEthercat::Response &response)
	The callback for the firmware update ROS service. More...

bool	getForceTorqueSamplingRate (int &samplingRate) override
	Gets the force torque sampling rate of the device. More...

bool	getSerialNumber (unsigned int &samplingRate) override
	Gets the serial number of the device. More...

void	postSetupConfiguration () override
	Post-setup configuration hook. More...

void	preSetupConfiguration () override
	Pre-setup configuration hook. More...

void	publishConnectionStatusDiagnostics ()
	Publishes the Connection Status Diagnostics to the "/diagnostics" topic. More...

void	publishDataFlagsDiagnostics (const ros::TimerEvent &event)
	Publishes the Data Flags Diagnostics to the "/diagnostics" topic. More...

void	publishRosDiagnostics () override
	Publish ROS diagnostics related to the operation of rokubimini. More...

void	publishRosMessages () override
	Publishes ROS messages with data from the rokubimini device. More...

bool	resetWrenchCallback (rokubimini_msgs::ResetWrench::Request &request, rokubimini_msgs::ResetWrench::Response &response)
	The callback for the reset wrench ROS service. More...

	RokubiminiEthercat ()=default
	Default constructor. More...

	RokubiminiEthercat (const std::string &name, NodeHandlePtr nh)

bool	saveConfigParameter () override
	Saves the current configuration to the device. More...

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, double &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, float &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, int16_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, int32_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, int64_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, int8_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint16_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint32_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint64_t &value)

template<>
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint8_t &value)

template<typename Value >
bool	sendSdoRead (const uint16_t index, const uint8_t subindex, const bool completeAccess, Value &value)

bool	sendSdoReadGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, std::string &valueString)
	Sends a generic reading SDO to the Ethercat device. More...

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const double value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const float value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int16_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int32_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int64_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int8_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint16_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint32_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint64_t value)

template<>
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint8_t value)

template<typename Value >
bool	sendSdoWrite (const uint16_t index, const uint8_t subindex, const bool completeAccess, const Value value)

bool	sendSdoWriteGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, const std::string &valueString)
	Sends a generic write SDO to the Ethercat device. More...

bool	setAccelerationFilter (const unsigned int filter) override
	Sets an acceleration filter to the device. More...

bool	setAccelerationRange (const unsigned int range) override
	Sets an acceleration range to the device. More...

bool	setAngularRateFilter (const unsigned int filter) override
	Sets an angular rate filter to the device. More...

bool	setAngularRateRange (const unsigned int range) override
	Sets an angular rate range to the device. More...

bool	setConfigMode ()
	Sets the device in config mode. More...

bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter) override
	Sets a force torque filter to the device. More...

bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset) override
	Sets a force torque offset to the device. More...

bool	setRunMode ()
	Sets the device in run mode. More...

void	setRunsAsync (bool runsAsync)

bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration) override
	Sets a sensor calibration to the device. More...

bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration) override
	Sets a sensor configuration to the device. More...

void	setSlavePointer (const RokubiminiEthercatSlavePtr &slavePtr)
	Sets a pointer to the implementation. More...

void	setState (const uint16_t state)
	Sets the desired EtherCAT state machine state of the device in the bus. More...

void	shutdownWithCommunication () override
	Shuts down a Rokubimini Ethercat device before communication has been closed. More...

void	signalShutdown ()
	Signals shutdown for the ROS node. It's used if a firmware update was successful. More...

void	updateConnectionStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Shows the Device Status of the rokubimini. More...

void	updateProcessReading () override
	Updates the RokubiminiEthercat object with new measurements. More...

bool	waitForState (const uint16_t state)
	Wait for an EtherCAT state machine state to be reached. More...

	~RokubiminiEthercat () override=default

Public Member Functions inherited from rokubimini::Rokubimini
void	addDeviceDisconnectedCb (const DeviceDisconnectedCb &deviceDisconnectedCb, const int priority=0)

void	addDeviceReconnectedCb (const DeviceReconnectedCb &deviceReconnectedCb, const int priority=0)

void	addErrorCb (const ErrorCb &errorCb, const int priority=0)

void	addErrorRecoveredCb (const ErrorRecoveredCb &errorRecoveredCb, const int priority=0)

void	addFatalCb (const FatalCb &fatalCb, const int priority=0)

void	addFatalRecoveredCb (const FatalRecoveredCb &fatalRecoveredCb, const int priority=0)

void	addReadingCb (const ReadingCb &readingCb, const int priority=0)

void	clearGoalStateEnum ()

void	deviceDisconnectedCb ()

bool	deviceIsInErrorState ()

bool	deviceIsInFatalState ()

void	deviceReconnectedCb ()

void	errorCb ()

void	errorRecoveredCb ()

void	fatalCb ()

void	fatalRecoveredCb ()

configuration::Configuration &	getConfiguration ()

const configuration::Configuration &	getConfiguration () const

std::string	getName () const

std::string	getProductName () const

Reading	getReading () const

void	getReading (Reading &reading) const

Statusword	getStatusword () const

virtual void	load ()

	Rokubimini ()=default

	Rokubimini (const std::string &name, NodeHandlePtr nh)

void	setNodeHandle (const NodeHandlePtr &nh)

virtual void	shutdownWithoutCommunication ()

void	startupWithCommunication ()

void	startupWithoutCommunication ()

virtual	~Rokubimini ()=default

Protected Types
using	RosPublisherPtr = std::shared_ptr< ros::Publisher >

Protected Attributes
std::atomic< bool >	computeMeanWrenchFlag_ { false }
	The flag for enabling the computation of the mean of the wrench measurements. Used withing the "reset service" callback. More...

ros::ServiceServer	firmwareUpdateService_
	The service for firmware updates. More...

RosPublisherPtr	imuPublisher_
	The sensor_msgs::Imu publisher. More...

std::recursive_mutex	meanWrenchOffsetMutex_
	The mutex for accessing the mean of the wrench measurements. Used for the "reset service" callback. More...

RosPublisherPtr	readingPublisher_
	The rokubimini_msgs::Reading publisher. More...

Eigen::Matrix< double, 6, Eigen::Dynamic >	resetServiceWrenchSamples_
	The wrench samples used by the "reset service" callback for calculating the mean wrench offset. More...

ros::ServiceServer	resetWrenchService_
	The service for resetting the sensor wrench measurements. More...

RokubiminiEthercatSlavePtr	slavePtr_ { nullptr }
	The pointer to implementation. More...

RosPublisherPtr	temperaturePublisher_
	The sensor_msgs::Temperature publisher. More...

std::atomic< uint32_t >	wrenchMessageCount_ { 0 }
	The counter that is used for the computation of the mean of the wrench measurements. Used for the "reset service" callback. More...

RosPublisherPtr	wrenchPublisher_
	The sensor_msgs::Wrench publisher. More...

Protected Attributes inherited from rokubimini::Rokubimini
configuration::Configuration	configuration_

DiagnosticsUpdaterPtr	connectionStatusUpdater_

RosPublisherPtr	dataFlagsDiagnosticsPublisher_

TimerPtr	dataFlagsDiagnosticsTimer_

std::multimap< int, DeviceDisconnectedCb, std::greater< int > >	deviceDisconnectedCbs_

std::multimap< int, DeviceReconnectedCb, std::greater< int > >	deviceReconnectedCbs_

std::multimap< int, ErrorCb, std::greater< int > >	errorCbs_

std::multimap< int, ErrorRecoveredCb, std::greater< int > >	errorRecoveredCbs_

std::multimap< int, FatalCb, std::greater< int > >	fatalCbs_

std::multimap< int, FatalRecoveredCb, std::greater< int > >	fatalRecoveredCbs_

std::string	name_

NodeHandlePtr	nh_

std::string	productName_

Reading	reading_

std::multimap< int, ReadingCb, std::greater< int > >	readingCbs_

std::recursive_mutex	readingMutex_

Statusword	statusword_

std::atomic< bool >	statuswordRequested_

Static Protected Attributes
const static uint32_t	TOTAL_NUMBER_OF_WRENCH_MESSAGES = 50

Static Protected Attributes inherited from rokubimini::Rokubimini
static constexpr double	NAN_VALUE

Additional Inherited Members
Public Types inherited from rokubimini::Rokubimini
typedef std::function< void(void)>	AnonymousErrorCb

typedef std::function< void(const Reading &)>	AnonymousReadingCb

typedef std::function< void(const std::string &)>	DeviceDisconnectedCb

typedef std::function< void(const std::string &)>	DeviceReconnectedCb

typedef std::shared_ptr< diagnostic_updater::Updater >	DiagnosticsUpdaterPtr

typedef std::function< void(const std::string &)>	ErrorCb

typedef std::function< void(const std::string &)>	ErrorRecoveredCb

typedef std::function< void(const std::string &)>	FatalCb

typedef std::function< void(const std::string &)>	FatalRecoveredCb

typedef std::shared_ptr< ros::NodeHandle >	NodeHandlePtr

typedef std::function< void(const std::string &, const Reading &)>	ReadingCb

typedef std::shared_ptr< ros::Publisher >	RosPublisherPtr

typedef std::shared_ptr< ros::Timer >	TimerPtr

Protected Member Functions inherited from rokubimini::Rokubimini
void	setStatusword (Statusword &statusword)

Detailed Description

The Rokubimini Ethercat class.

Inherits from the Rokubimini class. It's the interface in the BRIDGE pattern used. It provides the API to be called by client code and is used for interfacing with the implementation class called RokubiminiEthercatSlave.

Definition at line 25 of file RokubiminiEthercat.hpp.

Member Typedef Documentation

◆ RosPublisherPtr

using rokubimini::ethercat::RokubiminiEthercat::RosPublisherPtr = std::shared_ptr<ros::Publisher>

protected

Definition at line 488 of file RokubiminiEthercat.hpp.

Constructor & Destructor Documentation

◆ RokubiminiEthercat() [1/2]

rokubimini::ethercat::RokubiminiEthercat::RokubiminiEthercat ( )

default

Default constructor.

The default constructor of the RokubiminiEthercat class.

◆ RokubiminiEthercat() [2/2]

rokubimini::ethercat::RokubiminiEthercat::RokubiminiEthercat	(	const std::string &	name,
		NodeHandlePtr	nh
	)

inline

Definition at line 44 of file RokubiminiEthercat.hpp.

◆ ~RokubiminiEthercat()

rokubimini::ethercat::RokubiminiEthercat::~RokubiminiEthercat ( )

overridedefault

Member Function Documentation

◆ createRosDiagnostics()

void rokubimini::ethercat::RokubiminiEthercat::createRosDiagnostics ( )

overridevirtual

Adds ROS diagnostics related to the operation of rokubimini.

Implements rokubimini::Rokubimini.

Definition at line 200 of file RokubiminiEthercat.cpp.

◆ createRosPublishers()

void rokubimini::ethercat::RokubiminiEthercat::createRosPublishers ( )

overridevirtual

Adds ROS publishers related to the device.

Implements rokubimini::Rokubimini.

Definition at line 130 of file RokubiminiEthercat.cpp.

◆ createRosServices()

void rokubimini::ethercat::RokubiminiEthercat::createRosServices ( )

overridevirtual

Adds ROS services related to the device.

Implements rokubimini::Rokubimini.

Definition at line 360 of file RokubiminiEthercat.cpp.

◆ deviceIsMissing()

bool rokubimini::ethercat::RokubiminiEthercat::deviceIsMissing ( ) const

overridevirtual

Checks if the device is missing.

Implements rokubimini::Rokubimini.

Definition at line 46 of file RokubiminiEthercat.cpp.

◆ firmwareUpdateCallback()

bool rokubimini::ethercat::RokubiminiEthercat::firmwareUpdateCallback	(	rokubimini_msgs::FirmwareUpdateEthercat::Request &	request,
		rokubimini_msgs::FirmwareUpdateEthercat::Response &	response
	)

The callback for the firmware update ROS service.

Parameters

request	The request of the ROS service.
response	The response of the ROS service.

Returns: True always.

Definition at line 243 of file RokubiminiEthercat.cpp.

◆ getForceTorqueSamplingRate()

bool rokubimini::ethercat::RokubiminiEthercat::getForceTorqueSamplingRate ( int & samplingRate )

overridevirtual

Gets the force torque sampling rate of the device.

Parameters

samplingRate The force torque sampling rate to be fetched.

Returns: True if the force torque sampling rate was successfully fetched.

Implements rokubimini::Rokubimini.

Definition at line 56 of file RokubiminiEthercat.cpp.

◆ getSerialNumber()

bool rokubimini::ethercat::RokubiminiEthercat::getSerialNumber ( unsigned int & serialNumber )

overridevirtual

Gets the serial number of the device.

Parameters

serialNumber The serial number to be fetched.

Returns: True if the serial number was successfully fetched.

Implements rokubimini::Rokubimini.

Definition at line 51 of file RokubiminiEthercat.cpp.

◆ postSetupConfiguration()

void rokubimini::ethercat::RokubiminiEthercat::postSetupConfiguration ( )

overridevirtual

Post-setup configuration hook.

Implements rokubimini::Rokubimini.

Definition at line 12 of file RokubiminiEthercat.cpp.

◆ preSetupConfiguration()

void rokubimini::ethercat::RokubiminiEthercat::preSetupConfiguration ( )

overridevirtual

Pre-setup configuration hook.

Implements rokubimini::Rokubimini.

Definition at line 15 of file RokubiminiEthercat.cpp.

◆ publishConnectionStatusDiagnostics()

void rokubimini::ethercat::RokubiminiEthercat::publishConnectionStatusDiagnostics ( )

Publishes the Connection Status Diagnostics to the "/diagnostics" topic.

Definition at line 217 of file RokubiminiEthercat.cpp.

◆ publishDataFlagsDiagnostics()

void rokubimini::ethercat::RokubiminiEthercat::publishDataFlagsDiagnostics ( const ros::TimerEvent & event )

Publishes the Data Flags Diagnostics to the "/diagnostics" topic.

Definition at line 222 of file RokubiminiEthercat.cpp.

◆ publishRosDiagnostics()

void rokubimini::ethercat::RokubiminiEthercat::publishRosDiagnostics ( )

overridevirtual

Publish ROS diagnostics related to the operation of rokubimini.

Implements rokubimini::Rokubimini.

Definition at line 212 of file RokubiminiEthercat.cpp.

◆ publishRosMessages()

void rokubimini::ethercat::RokubiminiEthercat::publishRosMessages ( )

overridevirtual

Publishes ROS messages with data from the rokubimini device.

Implements rokubimini::Rokubimini.

Definition at line 151 of file RokubiminiEthercat.cpp.

◆ resetWrenchCallback()

bool rokubimini::ethercat::RokubiminiEthercat::resetWrenchCallback	(	rokubimini_msgs::ResetWrench::Request &	request,
		rokubimini_msgs::ResetWrench::Response &	response
	)

The callback for the reset wrench ROS service.

Parameters

request	The request of the ROS service.
response	The response of the ROS service.

Returns: True always.

Definition at line 256 of file RokubiminiEthercat.cpp.

◆ saveConfigParameter()

bool rokubimini::ethercat::RokubiminiEthercat::saveConfigParameter ( )

overridevirtual

Saves the current configuration to the device.

Returns: True if the configuration was successfully saved in the device.

Implements rokubimini::Rokubimini.

Definition at line 121 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [1/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		double &	value
	)

Definition at line 443 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [2/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		float &	value
	)

Definition at line 436 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [3/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int16_t &	value
	)

Definition at line 387 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [4/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int32_t &	value
	)

Definition at line 394 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [5/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int64_t &	value
	)

Definition at line 401 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [6/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int8_t &	value
	)

Definition at line 380 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [7/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint16_t &	value
	)

Definition at line 415 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [8/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint32_t &	value
	)

Definition at line 422 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [9/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint64_t &	value
	)

Definition at line 429 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [10/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint8_t &	value
	)

Definition at line 408 of file RokubiminiEthercat.cpp.

◆ sendSdoRead() [11/11]

template<typename Value >

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoRead	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		Value &	value
	)

◆ sendSdoReadGeneric()

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoReadGeneric	(	const std::string &	indexString,
		const std::string &	subindexString,
		const std::string &	valueTypeString,
		std::string &	valueString
	)

Sends a generic reading SDO to the Ethercat device.

Parameters

indexString	A string containing the index of the SDO.
subindexString	A string containing the sub-index of the SDO.
valueTypeString	A string containing the type of the value to read.
valueString	A string containing the value to read.

Returns: True if the SDO read was sent successfully.

Definition at line 367 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [1/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const double	value
	)

Definition at line 513 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [2/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const float	value
	)

Definition at line 506 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [3/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int16_t	value
	)

Definition at line 457 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [4/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int32_t	value
	)

Definition at line 464 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [5/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int64_t	value
	)

Definition at line 471 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [6/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int8_t	value
	)

Definition at line 450 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [7/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint16_t	value
	)

Definition at line 485 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [8/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint32_t	value
	)

Definition at line 492 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [9/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint64_t	value
	)

Definition at line 499 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [10/11]

template<>

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint8_t	value
	)

Definition at line 478 of file RokubiminiEthercat.cpp.

◆ sendSdoWrite() [11/11]

template<typename Value >

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWrite	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const Value	value
	)

◆ sendSdoWriteGeneric()

bool rokubimini::ethercat::RokubiminiEthercat::sendSdoWriteGeneric	(	const std::string &	indexString,
		const std::string &	subindexString,
		const std::string &	valueTypeString,
		const std::string &	valueString
	)

Sends a generic write SDO to the Ethercat device.

Parameters

indexString	A string containing the index of the SDO.
subindexString	A string containing the sub-index of the SDO.
valueTypeString	A string containing the type of the value to write.
valueString	A string containing the value to write.

Returns: True if the SDO write was sent successfully.

Definition at line 373 of file RokubiminiEthercat.cpp.

◆ setAccelerationFilter()

bool rokubimini::ethercat::RokubiminiEthercat::setAccelerationFilter ( const unsigned int filter )

overridevirtual

Sets an acceleration filter to the device.

Parameters

filter The filter to be set.

Returns: True if the acceleration torque filter was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 66 of file RokubiminiEthercat.cpp.

◆ setAccelerationRange()

bool rokubimini::ethercat::RokubiminiEthercat::setAccelerationRange ( const unsigned int range )

overridevirtual

Sets an acceleration range to the device.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 76 of file RokubiminiEthercat.cpp.

◆ setAngularRateFilter()

bool rokubimini::ethercat::RokubiminiEthercat::setAngularRateFilter ( const unsigned int filter )

overridevirtual

Sets an angular rate filter to the device.

Parameters

filter The filter to be set.

Returns: True if the angular rate filter was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 71 of file RokubiminiEthercat.cpp.

◆ setAngularRateRange()

bool rokubimini::ethercat::RokubiminiEthercat::setAngularRateRange ( const unsigned int range )

overridevirtual

Sets an angular rate range to the device.

Parameters

range The range to be set.

Returns: True if the angular rate range was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 81 of file RokubiminiEthercat.cpp.

◆ setConfigMode()

bool rokubimini::ethercat::RokubiminiEthercat::setConfigMode ( )

Sets the device in config mode.

Returns: True if the operation was successful.

Definition at line 111 of file RokubiminiEthercat.cpp.

◆ setForceTorqueFilter()

bool rokubimini::ethercat::RokubiminiEthercat::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

overridevirtual

Sets a force torque filter to the device.

Parameters

filter The filter to be set.

Returns: True if the force torque filter was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 61 of file RokubiminiEthercat.cpp.

◆ setForceTorqueOffset()

bool rokubimini::ethercat::RokubiminiEthercat::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

overridevirtual

Sets a force torque offset to the device.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 86 of file RokubiminiEthercat.cpp.

◆ setRunMode()

bool rokubimini::ethercat::RokubiminiEthercat::setRunMode ( )

Sets the device in run mode.

Returns: True if the operation was successful.

Definition at line 116 of file RokubiminiEthercat.cpp.

◆ setRunsAsync()

void rokubimini::ethercat::RokubiminiEthercat::setRunsAsync ( bool runsAsync )

Definition at line 147 of file RokubiminiEthercat.cpp.

◆ setSensorCalibration()

bool rokubimini::ethercat::RokubiminiEthercat::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

overridevirtual

Sets a sensor calibration to the device.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 101 of file RokubiminiEthercat.cpp.

◆ setSensorConfiguration()

bool rokubimini::ethercat::RokubiminiEthercat::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

overridevirtual

Sets a sensor configuration to the device.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

Implements rokubimini::Rokubimini.

Definition at line 91 of file RokubiminiEthercat.cpp.

◆ setSlavePointer()

void rokubimini::ethercat::RokubiminiEthercat::setSlavePointer ( const RokubiminiEthercatSlavePtr & slavePtr )

inline

Sets a pointer to the implementation.

This method realizes the pimpl paradigm. Through it, the RokubiminiEthercat object holds a pointer to its implementation, a RokubiminiEthercatSlave object.

Parameters

slavePtr The pointer to the RokubiminiEthercatSlave implementation.

Definition at line 114 of file RokubiminiEthercat.hpp.

◆ setState()

void rokubimini::ethercat::RokubiminiEthercat::setState ( const uint16_t state )

inline

Sets the desired EtherCAT state machine state of the device in the bus.

Parameters

state Desired state.

Definition at line 129 of file RokubiminiEthercat.hpp.

◆ shutdownWithCommunication()

void rokubimini::ethercat::RokubiminiEthercat::shutdownWithCommunication ( )

overridevirtual

Shuts down a Rokubimini Ethercat device before communication has been closed.

This method shuts down a Rokubimini Ethercat device before the EthercatBusManager has terminated communication with the device.

Implements rokubimini::Rokubimini.

Definition at line 39 of file RokubiminiEthercat.cpp.

◆ signalShutdown()

void rokubimini::ethercat::RokubiminiEthercat::signalShutdown ( )

Signals shutdown for the ROS node. It's used if a firmware update was successful.

Definition at line 188 of file RokubiminiEthercat.cpp.

◆ updateConnectionStatus()

void rokubimini::ethercat::RokubiminiEthercat::updateConnectionStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Shows the Device Status of the rokubimini.

Definition at line 195 of file RokubiminiEthercat.cpp.

◆ updateProcessReading()

void rokubimini::ethercat::RokubiminiEthercat::updateProcessReading ( )

overridevirtual

Updates the RokubiminiEthercat object with new measurements.

This method updates the internal Reading variable of RokubiminiEthercat, by getting the new values from its implementation RokubiminiEthercatSlave.

Implements rokubimini::Rokubimini.

Definition at line 20 of file RokubiminiEthercat.cpp.

◆ waitForState()

bool rokubimini::ethercat::RokubiminiEthercat::waitForState ( const uint16_t state )

inline

Wait for an EtherCAT state machine state to be reached.

Parameters

state Desired state.

Returns: True if the state has been reached within the timeout.

Definition at line 144 of file RokubiminiEthercat.hpp.

Member Data Documentation

◆ computeMeanWrenchFlag_

std::atomic< bool > rokubimini::ethercat::RokubiminiEthercat::computeMeanWrenchFlag_ { false }

protected

The flag for enabling the computation of the mean of the wrench measurements. Used withing the "reset service" callback.

Definition at line 546 of file RokubiminiEthercat.hpp.

◆ firmwareUpdateService_

ros::ServiceServer rokubimini::ethercat::RokubiminiEthercat::firmwareUpdateService_

protected

The service for firmware updates.

Definition at line 529 of file RokubiminiEthercat.hpp.

◆ imuPublisher_

RosPublisherPtr rokubimini::ethercat::RokubiminiEthercat::imuPublisher_

protected

The sensor_msgs::Imu publisher.

Definition at line 513 of file RokubiminiEthercat.hpp.

◆ meanWrenchOffsetMutex_

std::recursive_mutex rokubimini::ethercat::RokubiminiEthercat::meanWrenchOffsetMutex_

mutableprotected

The mutex for accessing the mean of the wrench measurements. Used for the "reset service" callback.

Definition at line 563 of file RokubiminiEthercat.hpp.

◆ readingPublisher_

RosPublisherPtr rokubimini::ethercat::RokubiminiEthercat::readingPublisher_

protected

The rokubimini_msgs::Reading publisher.

Definition at line 497 of file RokubiminiEthercat.hpp.

◆ resetServiceWrenchSamples_

eigen::Matrix< double, 6, Dynamic > rokubimini::ethercat::RokubiminiEthercat::resetServiceWrenchSamples_

protected

The wrench samples used by the "reset service" callback for calculating the mean wrench offset.

Definition at line 580 of file RokubiminiEthercat.hpp.

◆ resetWrenchService_

ros::ServiceServer rokubimini::ethercat::RokubiminiEthercat::resetWrenchService_

protected

The service for resetting the sensor wrench measurements.

Definition at line 537 of file RokubiminiEthercat.hpp.

◆ slavePtr_

RokubiminiEthercatSlavePtr rokubimini::ethercat::RokubiminiEthercat::slavePtr_ { nullptr }

protected

The pointer to implementation.

Definition at line 486 of file RokubiminiEthercat.hpp.

◆ temperaturePublisher_

RosPublisherPtr rokubimini::ethercat::RokubiminiEthercat::temperaturePublisher_

protected

The sensor_msgs::Temperature publisher.

Definition at line 521 of file RokubiminiEthercat.hpp.

◆ TOTAL_NUMBER_OF_WRENCH_MESSAGES

const static uint32_t rokubimini::ethercat::RokubiminiEthercat::TOTAL_NUMBER_OF_WRENCH_MESSAGES = 50

staticprotected

Definition at line 572 of file RokubiminiEthercat.hpp.

◆ wrenchMessageCount_

std::atomic< uint32_t > rokubimini::ethercat::RokubiminiEthercat::wrenchMessageCount_ { 0 }

protected

The counter that is used for the computation of the mean of the wrench measurements. Used for the "reset service" callback.

Definition at line 555 of file RokubiminiEthercat.hpp.

◆ wrenchPublisher_

RosPublisherPtr rokubimini::ethercat::RokubiminiEthercat::wrenchPublisher_

protected

The sensor_msgs::Wrench publisher.

Definition at line 505 of file RokubiminiEthercat.hpp.

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

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ RosPublisherPtr

Constructor & Destructor Documentation

◆ RokubiminiEthercat() [1/2]

◆ RokubiminiEthercat() [2/2]

◆ ~RokubiminiEthercat()

Member Function Documentation

◆ createRosDiagnostics()

◆ createRosPublishers()

◆ createRosServices()

◆ deviceIsMissing()

◆ firmwareUpdateCallback()

◆ getForceTorqueSamplingRate()

◆ getSerialNumber()

◆ postSetupConfiguration()

◆ preSetupConfiguration()

◆ publishConnectionStatusDiagnostics()

◆ publishDataFlagsDiagnostics()

◆ publishRosDiagnostics()

◆ publishRosMessages()

◆ resetWrenchCallback()

◆ saveConfigParameter()

◆ sendSdoRead() [1/11]

◆ sendSdoRead() [2/11]

◆ sendSdoRead() [3/11]

◆ sendSdoRead() [4/11]

◆ sendSdoRead() [5/11]

◆ sendSdoRead() [6/11]

◆ sendSdoRead() [7/11]

◆ sendSdoRead() [8/11]

◆ sendSdoRead() [9/11]

◆ sendSdoRead() [10/11]

◆ sendSdoRead() [11/11]

◆ sendSdoReadGeneric()

◆ sendSdoWrite() [1/11]

◆ sendSdoWrite() [2/11]

◆ sendSdoWrite() [3/11]

◆ sendSdoWrite() [4/11]

◆ sendSdoWrite() [5/11]

◆ sendSdoWrite() [6/11]

◆ sendSdoWrite() [7/11]

◆ sendSdoWrite() [8/11]

◆ sendSdoWrite() [9/11]

◆ sendSdoWrite() [10/11]

◆ sendSdoWrite() [11/11]

◆ sendSdoWriteGeneric()

◆ setAccelerationFilter()

◆ setAccelerationRange()

◆ setAngularRateFilter()

◆ setAngularRateRange()

◆ setConfigMode()

◆ setForceTorqueFilter()

◆ setForceTorqueOffset()

◆ setRunMode()

◆ setRunsAsync()

◆ setSensorCalibration()

◆ setSensorConfiguration()

◆ setSlavePointer()

◆ setState()

◆ shutdownWithCommunication()

◆ signalShutdown()

◆ updateConnectionStatus()

◆ updateProcessReading()

◆ waitForState()

Member Data Documentation

◆ computeMeanWrenchFlag_

◆ firmwareUpdateService_

◆ imuPublisher_

◆ meanWrenchOffsetMutex_

◆ readingPublisher_

◆ resetServiceWrenchSamples_

◆ resetWrenchService_

◆ slavePtr_

◆ temperaturePublisher_