Brief description of class Bus. More...

#include <armarx/control/ethercat/Bus.h>

Inheritance diagram for Bus:

Public Types
using	DeviceFactory = std::function< std::shared_ptr< DeviceInterface >(hardware_config::DeviceConfig &config, const VirtualRobot::RobotPtr &robot)>

using	SlaveFactory = std::function< std::unique_ptr< SlaveInterface >(SlaveIdentifier sid)>

Public Member Functions
void	configureErrorCountersReading (bool enable, unsigned int periodInMS)
	configureErrorCountersReading configure stuff More...

const std::vector< std::shared_ptr< DeviceInterface > > &	getDevices () const
	Returns all initialized devices. More...

std::uint64_t	getIterationCount () const

PDOValidity	getPDOValidity () const

std::experimental::observer_ptr< SlaveInterface >	getSlaveAtIndex (std::uint16_t slaveIndex) const

std::vector< std::experimental::observer_ptr< SlaveInterface > >	getSlaves () const
	Returns all identifiied slaves on the bus. More...

std::string	logErrorsToFile (std::filesystem::path path, unsigned int lastSeconds)

void	registerDeviceFactory (const std::string &name, const DeviceFactory &factory)

void	registerSlaveFactory (const SlaveFactory &factory)

EtherCATState	rtGetEtherCATState () const

BusFunctionalState	rtGetFunctionalState () const

bool	rtHasError () const

bool	rtIsEmergencyStopActive () const

bool	rtUpdateBus (bool doErrorHandling=true, size_t iterationCount=0)
	Updates all information on the bus, so all commands will be send to the Bus and all sensor and other monitored values will be recived from the bus. More...

void	setAndParseHardwareConfig (const MultiNodeRapidXMLReader &hwconfig)

void	setIfName (const std::string &ifname)

void	setRobot (const VirtualRobot::RobotPtr &robot)

void	setSocketFileDescriptor (int socketFileDescriptor)

void	shutdown ()
	Shuts the bus down by executing the shutdown-hook for each slave and afterwards switch all slaves to EC_STATE_INIT. More...

bool	switchBusToInit ()

bool	switchBusToOp ()

bool	switchBusToPreOp ()

bool	switchBusToSafeOp ()

Public Member Functions inherited from BusIO
EtherCATState	changeStateOfBus (EtherCATState state, bool validate=true)

EtherCATState	changeStateOfSlave (std::uint16_t slaveIndex, EtherCATState state, bool validate=true)

void	deactivateCOECA (std::uint16_t slaveIndex)
	This deactivates the Complete access mode in CoE for the given slave. More...

bool	readRegisters (EtherCATFrameList *frames, std::uint16_t amountFramesToRead=0)

bool	readRegisters (std::vector< RegisterDataList > &registerData)

bool	readSDOByteBuffer (std::uint16_t slaveIndex, std::uint16_t index, std::uint8_t subIndex, int buflen, unsigned char buf, bool completeAccess=false)
	Performs a SDO read from the slave and returns true if it succeeds. More...

template<typename T , typename = std::enable_if_t<std::is_integral_v<T>>>
bool	readSDOEntry (std::uint16_t slaveIndex, std::uint16_t index, std::uint8_t subIndex, T &result, bool completeAccess=false)
	Performs a SDO read of an single entry from the slave and returns true if it succeeds. More...

EtherCATState	readStates ()

bool	resetErrorRegisters (std::uint16_t slaveIndex)

void	setTimeouts (Timeouts const &timeouts)

bool	writeSDOByteBuffer (std::uint16_t slaveIndex, std::uint16_t index, std::uint8_t subIndex, int buflen, const unsigned char *buf, bool completeAccess=false)
	Performs a SDO write to the slave with the given slaveIndex and returns true if it succeeds. More...

template<typename T , typename = std::enable_if_t<std::is_integral_v<T>>>
bool	writeSDOEntry (std::uint16_t slaveIndex, std::uint16_t index, std::uint8_t subIndex, T value, bool completeAccess=false)
	Performs a SDO write to a single entry to the slave with the give slaveIndex and returns true if it succeeds. More...

virtual	~BusIO ()

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Static Public Member Functions
static Bus &	getBus ()
	This returns the one and only Bus object. More...

Additional Inherited Members
Protected Types inherited from BusIO
using	IOMap = std::array< char, 4096 >
	IOmap the IO map where the process data are mapped in. More...

Protected Member Functions inherited from BusIO
	BusIO ()

void	rtUpdatePDO ()
	Updates the PDO of all slaves. More...

Protected Member Functions inherited from ESIHandler
std::optional< std::vector< std::byte > >	readESIBinaryBlob (std::uint16_t slaveIndex, std::uint16_t startAddress, std::uint16_t endAddress) const

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes inherited from BusIO
IOMap	ioMap

int	lastWorkCounter = 0

bool	pdoAccessAvailable = false

bool	sdoAccessAvailable = false

Timeouts	timeouts

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Brief description of class Bus.

Detailed description of class Bus.

Definition at line 55 of file Bus.h.

Member Typedef Documentation

◆ DeviceFactory

using DeviceFactory = std::function<std::shared_ptr<DeviceInterface>(hardware_config::DeviceConfig& config, const VirtualRobot::RobotPtr& robot)>

Definition at line 136 of file Bus.h.

◆ SlaveFactory

using SlaveFactory = std::function<std::unique_ptr<SlaveInterface>(SlaveIdentifier sid)>

Definition at line 130 of file Bus.h.

Member Function Documentation

◆ configureErrorCountersReading()

void configureErrorCountersReading	(	bool	enable,
		unsigned int	periodInMS
	)

configureErrorCountersReading configure stuff

more configure stuff explanation

Parameters

enable	sadösdm
periodInMS	asdsads

Definition at line 1459 of file Bus.cpp.

◆ getBus()

Bus & getBus ( )

static

This returns the one and only Bus object.

An implements the singelton pattern

Returns: The Bus instance

Definition at line 29 of file Bus.cpp.

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◆ getDevices()

const std::vector< std::shared_ptr< DeviceInterface > > & getDevices ( ) const

Returns all initialized devices.

Returns

Definition at line 1404 of file Bus.cpp.

◆ getIterationCount()

std::uint64_t getIterationCount ( ) const

Definition at line 1483 of file Bus.cpp.

◆ getPDOValidity()

PDOValidity getPDOValidity ( ) const

Definition at line 644 of file Bus.cpp.

◆ getSlaveAtIndex()

std::experimental::observer_ptr< SlaveInterface > getSlaveAtIndex ( std::uint16_t slaveIndex ) const

Definition at line 1414 of file Bus.cpp.

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◆ getSlaves()

std::vector< std::experimental::observer_ptr< SlaveInterface > > getSlaves ( ) const

Returns all identifiied slaves on the bus.

Returns

Definition at line 1392 of file Bus.cpp.

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◆ logErrorsToFile()

std::string logErrorsToFile	(	std::filesystem::path	path,
		unsigned int	lastSeconds
	)

Definition at line 36 of file Bus.cpp.

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◆ registerDeviceFactory()

void registerDeviceFactory	(	const std::string &	name,
		const DeviceFactory &	factory
	)

Definition at line 1378 of file Bus.cpp.

◆ registerSlaveFactory()

void registerSlaveFactory ( const SlaveFactory & factory )

Definition at line 1372 of file Bus.cpp.

◆ rtGetEtherCATState()

EtherCATState rtGetEtherCATState ( ) const

Definition at line 1360 of file Bus.cpp.

◆ rtGetFunctionalState()

BusFunctionalState rtGetFunctionalState ( ) const

Definition at line 1366 of file Bus.cpp.

◆ rtHasError()

bool rtHasError ( ) const

Definition at line 1444 of file Bus.cpp.

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◆ rtIsEmergencyStopActive()

bool rtIsEmergencyStopActive ( ) const

Definition at line 1428 of file Bus.cpp.

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◆ rtUpdateBus()

bool rtUpdateBus	(	bool	doErrorHandling = `true`,
		size_t	iterationCount = `0`
	)

Updates all information on the bus, so all commands will be send to the Bus and all sensor and other monitored values will be recived from the bus.

Returns: false if the bus has not been switched to .

Parameters

doErrorHandling

Returns: asdojis EtherCATState::op

Definition at line 474 of file Bus.cpp.

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◆ setAndParseHardwareConfig()

void setAndParseHardwareConfig ( const MultiNodeRapidXMLReader & hwconfig )

Definition at line 1384 of file Bus.cpp.

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◆ setIfName()

void setIfName ( const std::string & ifname )

Definition at line 468 of file Bus.cpp.

◆ setRobot()

void setRobot ( const VirtualRobot::RobotPtr & robot )

Definition at line 1453 of file Bus.cpp.

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◆ setSocketFileDescriptor()

void setSocketFileDescriptor ( int socketFileDescriptor )

Definition at line 462 of file Bus.cpp.

◆ shutdown()

void shutdown ( )

Shuts the bus down by executing the shutdown-hook for each slave and afterwards switch all slaves to EC_STATE_INIT.

If the bus state is already EC_STATE_INIT these steps are skipped. Afterwards the socket will be closed and no communication with the bus is possible anymore.

Definition at line 593 of file Bus.cpp.

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◆ switchBusToInit()

bool switchBusToInit ( )

Definition at line 650 of file Bus.cpp.

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◆ switchBusToOp()

bool switchBusToOp ( )

Definition at line 709 of file Bus.cpp.

◆ switchBusToPreOp()

bool switchBusToPreOp ( )

Definition at line 669 of file Bus.cpp.

◆ switchBusToSafeOp()

bool switchBusToSafeOp ( )

Definition at line 689 of file Bus.cpp.

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

armarx/control/ethercat/Bus.h
armarx/control/ethercat/Bus.cpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ DeviceFactory

◆ SlaveFactory

Member Function Documentation

◆ configureErrorCountersReading()

◆ getBus()

◆ getDevices()

◆ getIterationCount()

◆ getPDOValidity()

◆ getSlaveAtIndex()

◆ getSlaves()

◆ logErrorsToFile()

◆ registerDeviceFactory()

◆ registerSlaveFactory()

◆ rtGetEtherCATState()

◆ rtGetFunctionalState()

◆ rtHasError()

◆ rtIsEmergencyStopActive()

◆ rtUpdateBus()

◆ setAndParseHardwareConfig()

◆ setIfName()

◆ setRobot()

◆ setSocketFileDescriptor()

◆ shutdown()

◆ switchBusToInit()

◆ switchBusToOp()

◆ switchBusToPreOp()

◆ switchBusToSafeOp()