Base class for generic ethercat slaves using soem. More...

#include <EthercatSlaveBase.hpp>

Inheritance diagram for rokubimini::soem_interface::EthercatSlaveBase:

Classes
struct	PdoInfo
	Struct defining the Pdo characteristic. More...

Public Member Functions
	EthercatSlaveBase (EthercatBusBase *bus, const uint32_t address)

uint32_t	getAddress () const
	Returns the bus address of the slave. More...

virtual PdoInfo	getCurrentPdoInfo () const =0
	Gets the current pdo information. More...

virtual std::string	getName () const =0
	Returns the name of the slave. More...

std::string	getProductName () const
	Gets the product name of the device. More...

virtual bool	getSerialNumber (unsigned int &serialNumber)=0
	Accessor for device serial number. It's abstract because it's implementation specific. More...

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

virtual bool	sendSdoReadDouble (const uint16_t index, const uint8_t subindex, const bool completeAccess, double &value)

virtual bool	sendSdoReadFloat (const uint16_t index, const uint8_t subindex, const bool completeAccess, float &value)

virtual bool	sendSdoReadGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, std::string &valueString)

virtual bool	sendSdoReadInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int16_t &value)

virtual bool	sendSdoReadInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int32_t &value)

virtual bool	sendSdoReadInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int64_t &value)

virtual bool	sendSdoReadInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, int8_t &value)

virtual bool	sendSdoReadUInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint16_t &value)

virtual bool	sendSdoReadUInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint32_t &value)

virtual bool	sendSdoReadUInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint64_t &value)

virtual bool	sendSdoReadUInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, uint8_t &value)

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

virtual bool	sendSdoWriteDouble (const uint16_t index, const uint8_t subindex, const bool completeAccess, const double value)

virtual bool	sendSdoWriteFloat (const uint16_t index, const uint8_t subindex, const bool completeAccess, const float value)

virtual bool	sendSdoWriteGeneric (const std::string &indexString, const std::string &subindexString, const std::string &valueTypeString, const std::string &valueString)

virtual bool	sendSdoWriteInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int16_t value)

virtual bool	sendSdoWriteInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int32_t value)

virtual bool	sendSdoWriteInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int64_t value)

virtual bool	sendSdoWriteInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const int8_t value)

virtual bool	sendSdoWriteUInt16 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint16_t value)

virtual bool	sendSdoWriteUInt32 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint32_t value)

virtual bool	sendSdoWriteUInt64 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint64_t value)

virtual bool	sendSdoWriteUInt8 (const uint16_t index, const uint8_t subindex, const bool completeAccess, const uint8_t value)

void	setProductName (const std::string &productName)
	Sets the product name of the device. More...

bool	setSerialNumber (unsigned int &serialNumber)
	Accessor for device serial number. More...

virtual void	shutdown ()=0
	Used to shutdown slave specific objects. More...

virtual bool	startup ()=0
	Startup non-ethercat specific objects for the slave. More...

virtual void	updateRead ()=0
	Called during reading the ethercat bus. Use this method to extract readings from the ethercat bus buffer. More...

virtual void	updateWrite ()=0
	Called during writing to the ethercat bus. Use this method to stage a command for the slave. More...

virtual	~EthercatSlaveBase ()=default

Protected Member Functions
void	printWarnNotImplemented ()
	Prints a warning. Use this method to suppress compiler warnings. More...

Protected Attributes
const uint32_t	address_ { 0 }

EthercatBusBase *	bus_

std::recursive_mutex	mutex_

std::string	productName_ { "" }
	The product name of the slave. More...

unsigned int	serialNumber_ { 0 }
	The serial number of the device. More...

Detailed Description

Base class for generic ethercat slaves using soem.

Definition at line 19 of file EthercatSlaveBase.hpp.

Constructor & Destructor Documentation

◆ EthercatSlaveBase()

rokubimini::soem_interface::EthercatSlaveBase::EthercatSlaveBase	(	EthercatBusBase *	bus,
		const uint32_t	address
	)

Definition at line 9 of file EthercatSlaveBase.cpp.

◆ ~EthercatSlaveBase()

virtual rokubimini::soem_interface::EthercatSlaveBase::~EthercatSlaveBase ( )

virtualdefault

Member Function Documentation

◆ getAddress()

uint32_t rokubimini::soem_interface::EthercatSlaveBase::getAddress ( ) const

inline

Returns the bus address of the slave.

Returns: Bus address.

Definition at line 85 of file EthercatSlaveBase.hpp.

◆ getCurrentPdoInfo()

virtual PdoInfo rokubimini::soem_interface::EthercatSlaveBase::getCurrentPdoInfo ( ) const

pure virtual

Gets the current pdo information.

Returns: The current pdo information.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

◆ getName()

virtual std::string rokubimini::soem_interface::EthercatSlaveBase::getName ( ) const

pure virtual

Returns the name of the slave.

Returns: Name of the ethercat bus

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

◆ getProductName()

std::string rokubimini::soem_interface::EthercatSlaveBase::getProductName ( ) const

inline

Gets the product name of the device.

Returns: The product name.

Definition at line 97 of file EthercatSlaveBase.hpp.

◆ getSerialNumber()

bool rokubimini::soem_interface::EthercatSlaveBase::getSerialNumber ( unsigned int & serialNumber )

pure virtual

Accessor for device serial number. It's abstract because it's implementation specific.

Parameters

serialNumber The serial number to get.

Returns: True if the serial number could be successfully fetched.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

◆ printWarnNotImplemented()

void rokubimini::soem_interface::EthercatSlaveBase::printWarnNotImplemented ( )

inlineprotected

Prints a warning. Use this method to suppress compiler warnings.

Definition at line 288 of file EthercatSlaveBase.hpp.

◆ sendSdoRead()

template<typename Value >

template bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoRead< double >	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		Value &	value
	)

Send a reading SDO.

Parameters

index	Index of the SDO.
subindex	Sub-index of the SDO.
completeAccess	Access all sub-inidices at once.
value	Return argument, will contain the value which was read.

Returns: True if successful.

Definition at line 24 of file EthercatSlaveBase.cpp.

◆ sendSdoReadDouble()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadDouble	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		double &	value
	)

inlinevirtual

Definition at line 214 of file EthercatSlaveBase.hpp.

◆ sendSdoReadFloat()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadFloat	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		float &	value
	)

inlinevirtual

Definition at line 209 of file EthercatSlaveBase.hpp.

◆ sendSdoReadGeneric()

bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadGeneric	(	const std::string &	indexString,
		const std::string &	subindexString,
		const std::string &	valueTypeString,
		std::string &	valueString
	)

virtual

Definition at line 74 of file EthercatSlaveBase.cpp.

◆ sendSdoReadInt16()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int16_t &	value
	)

inlinevirtual

Definition at line 171 of file EthercatSlaveBase.hpp.

◆ sendSdoReadInt32()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int32_t &	value
	)

inlinevirtual

Definition at line 176 of file EthercatSlaveBase.hpp.

◆ sendSdoReadInt64()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int64_t &	value
	)

inlinevirtual

Definition at line 181 of file EthercatSlaveBase.hpp.

◆ sendSdoReadInt8()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		int8_t &	value
	)

inlinevirtual

Definition at line 166 of file EthercatSlaveBase.hpp.

◆ sendSdoReadUInt16()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint16_t &	value
	)

inlinevirtual

Definition at line 191 of file EthercatSlaveBase.hpp.

◆ sendSdoReadUInt32()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint32_t &	value
	)

inlinevirtual

Definition at line 197 of file EthercatSlaveBase.hpp.

◆ sendSdoReadUInt64()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint64_t &	value
	)

inlinevirtual

Definition at line 203 of file EthercatSlaveBase.hpp.

◆ sendSdoReadUInt8()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoReadUInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		uint8_t &	value
	)

inlinevirtual

Definition at line 186 of file EthercatSlaveBase.hpp.

◆ sendSdoWrite()

template<typename Value >

template bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWrite< double >	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const Value	value
	)

Send a writing SDO.

Parameters

index	Index of the SDO.
subindex	Sub-index of the SDO.
completeAccess	Access all sub-inidices at once.
value	Value to write.

Returns: True if successful.

Definition at line 15 of file EthercatSlaveBase.cpp.

◆ sendSdoWriteDouble()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteDouble	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const double	value
	)

inlinevirtual

Definition at line 273 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteFloat()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteFloat	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const float	value
	)

inlinevirtual

Definition at line 267 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteGeneric()

bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteGeneric	(	const std::string &	indexString,
		const std::string &	subindexString,
		const std::string &	valueTypeString,
		const std::string &	valueString
	)

virtual

Definition at line 81 of file EthercatSlaveBase.cpp.

◆ sendSdoWriteInt16()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int16_t	value
	)

inlinevirtual

Definition at line 225 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteInt32()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int32_t	value
	)

inlinevirtual

Definition at line 231 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteInt64()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int64_t	value
	)

inlinevirtual

Definition at line 237 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteInt8()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const int8_t	value
	)

inlinevirtual

Definition at line 219 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteUInt16()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt16	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint16_t	value
	)

inlinevirtual

Definition at line 249 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteUInt32()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt32	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint32_t	value
	)

inlinevirtual

Definition at line 255 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteUInt64()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt64	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint64_t	value
	)

inlinevirtual

Definition at line 261 of file EthercatSlaveBase.hpp.

◆ sendSdoWriteUInt8()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::sendSdoWriteUInt8	(	const uint16_t	index,
		const uint8_t	subindex,
		const bool	completeAccess,
		const uint8_t	value
	)

inlinevirtual

Definition at line 243 of file EthercatSlaveBase.hpp.

◆ setProductName()

void rokubimini::soem_interface::EthercatSlaveBase::setProductName ( const std::string & productName )

inline

Sets the product name of the device.

Parameters

productName The product name to set.

Definition at line 139 of file EthercatSlaveBase.hpp.

◆ setSerialNumber()

bool rokubimini::soem_interface::EthercatSlaveBase::setSerialNumber ( unsigned int & serialNumber )

inline

Accessor for device serial number.

Parameters

serialNumber The serial number to set.

Returns: True if the serial number could be successfully saved.

Definition at line 126 of file EthercatSlaveBase.hpp.

◆ shutdown()

virtual void rokubimini::soem_interface::EthercatSlaveBase::shutdown ( )

pure virtual

Used to shutdown slave specific objects.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

◆ startup()

virtual bool rokubimini::soem_interface::EthercatSlaveBase::startup ( )

pure virtual

Startup non-ethercat specific objects for the slave.

Returns: True if succesful

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

◆ updateRead()

virtual void rokubimini::soem_interface::EthercatSlaveBase::updateRead ( )

pure virtual

Called during reading the ethercat bus. Use this method to extract readings from the ethercat bus buffer.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

◆ updateWrite()

virtual void rokubimini::soem_interface::EthercatSlaveBase::updateWrite ( )

pure virtual

Called during writing to the ethercat bus. Use this method to stage a command for the slave.

Implemented in rokubimini::ethercat::RokubiminiEthercatSlave.

Member Data Documentation

◆ address_

const uint32_t rokubimini::soem_interface::EthercatSlaveBase::address_ { 0 }

protected

Definition at line 298 of file EthercatSlaveBase.hpp.

◆ bus_

EthercatBusBase* rokubimini::soem_interface::EthercatSlaveBase::bus_

protected

Definition at line 296 of file EthercatSlaveBase.hpp.

◆ mutex_

std::recursive_mutex rokubimini::soem_interface::EthercatSlaveBase::mutex_

mutableprotected

Definition at line 294 of file EthercatSlaveBase.hpp.

◆ productName_

std::string rokubimini::soem_interface::EthercatSlaveBase::productName_ { "" }

protected

The product name of the slave.

Definition at line 305 of file EthercatSlaveBase.hpp.

◆ serialNumber_

unsigned int rokubimini::soem_interface::EthercatSlaveBase::serialNumber_ { 0 }

protected

The serial number of the device.

Definition at line 313 of file EthercatSlaveBase.hpp.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EthercatSlaveBase()

◆ ~EthercatSlaveBase()

Member Function Documentation

◆ getAddress()

◆ getCurrentPdoInfo()

◆ getName()

◆ getProductName()

◆ getSerialNumber()

◆ printWarnNotImplemented()

◆ sendSdoRead()

◆ sendSdoReadDouble()

◆ sendSdoReadFloat()

◆ sendSdoReadGeneric()

◆ sendSdoReadInt16()

◆ sendSdoReadInt32()

◆ sendSdoReadInt64()

◆ sendSdoReadInt8()

◆ sendSdoReadUInt16()

◆ sendSdoReadUInt32()

◆ sendSdoReadUInt64()

◆ sendSdoReadUInt8()

◆ sendSdoWrite()

◆ sendSdoWriteDouble()

◆ sendSdoWriteFloat()

◆ sendSdoWriteGeneric()

◆ sendSdoWriteInt16()

◆ sendSdoWriteInt32()

◆ sendSdoWriteInt64()

◆ sendSdoWriteInt8()

◆ sendSdoWriteUInt16()

◆ sendSdoWriteUInt32()

◆ sendSdoWriteUInt64()

◆ sendSdoWriteUInt8()

◆ setProductName()

◆ setSerialNumber()

◆ shutdown()

◆ startup()

◆ updateRead()

◆ updateWrite()

Member Data Documentation

◆ address_

◆ bus_

◆ mutex_

◆ productName_

◆ serialNumber_