DeviceInterface Class Reference

Brief description of class DeviceInterface. More...

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

Inheritance diagram for DeviceInterface:

Classes
class	SubDeviceInterface

Public Types
enum	AllAssignedResult { ok, slavesMissing }
enum	TryAssignResult { assigned, unknown, alreadyAssigned }

Public Member Functions
	DeviceInterface (const std::string &name)
virtual void	execute ()
virtual std::string	getClassName () const =0
virtual const std::vector< std::shared_ptr< SubDeviceInterface > >	getSubDevices () const
virtual AllAssignedResult	onAllAssigned ()=0
	Method called by the EtherCAT bus after all slaves have been assigned. More...
virtual void	postSwitchToOp ()
	Hook for executing code after the bus has successfully switched into the Op-State. More...
virtual void	postSwitchToSafeOp ()
	Hook for executing code after the bus has successfully switched into the SafeOp-State. More...
virtual TryAssignResult	tryAssign (SlaveInterface &slave)=0
	Method called by the EtherCAT bus to try to assign slaves to functional devices. More...
virtual	~DeviceInterface ()
Public Member Functions inherited from DeviceBase
	DeviceBase (const std::string &name)
	Create a Device with the given name. More...
const std::string &	getDeviceName () const
const std::set< std::string > &	getTags () const
virtual bool	hasError ()
bool	hasTag (const std::string &tag) const
const char *	rtGetDeviceName () const
virtual	~DeviceBase ()=default

Protected Attributes
std::vector< std::shared_ptr< SubDeviceInterface > >	subDevices

Additional Inherited Members
Protected Member Functions inherited from DeviceBase
void	addDeviceTag (const std::string &tag)
	adds the given tag to the Device More...

Detailed Description

Brief description of class DeviceInterface.

Detailed description of class DeviceInterface.

Definition at line 35 of file DeviceInterface.h.

Member Enumeration Documentation

AllAssignedResult

enum AllAssignedResult

strong

Enumerator
ok	Used if assignments were successful. (Expected)
slavesMissing	Used if slaves are missing. (Error)

Definition at line 107 of file DeviceInterface.h.

TryAssignResult

enum TryAssignResult

strong

Enumerator
assigned	Used if the slave was adpoted by this device. (Expected)
unknown	Used if the slave is unknown to this device. (Expected)
alreadyAssigned	Used if the slave was already adopted before. (Error)

Definition at line 86 of file DeviceInterface.h.

Constructor & Destructor Documentation

DeviceInterface()

DeviceInterface

(

const std::string &

name

)

Definition at line 32 of file DeviceInterface.cpp.

~DeviceInterface()

virtual ~DeviceInterface ( )

inlinevirtual

Definition at line 54 of file DeviceInterface.h.

Member Function Documentation

execute()

virtual void execute ( )

inlinevirtual

Definition at line 82 of file DeviceInterface.h.

getClassName()

virtual std::string getClassName ( ) const

pure virtual

getSubDevices()

const std::vector< std::shared_ptr< DeviceInterface::SubDeviceInterface > > getSubDevices ( ) const

virtual

Definition at line 37 of file DeviceInterface.cpp.

onAllAssigned()

virtual AllAssignedResult onAllAssigned ( )

pure virtual

Method called by the EtherCAT bus after all slaves have been assigned.

This method allows further initialization of assigned slaves and allows indicating missing slaves. When this method was called, all slaves have already been assigned, so if this device is still missing slaves, it should indicate it by returning AllAssignedResult::slavesMissing. AllAssignedResult::ok indicates that all expected slaves were assigned.

Returns

ok if all expected slaves were assigned, slavesMissing otherwise.

postSwitchToOp()

virtual void postSwitchToOp ( )

inlinevirtual

Hook for executing code after the bus has successfully switched into the Op-State.

Before executing this hook, the PDO of all slaves have been updated at least once. Updates can be sent to slaves via PDO.

Definition at line 77 of file DeviceInterface.h.

postSwitchToSafeOp()

virtual void postSwitchToSafeOp ( )

inlinevirtual

Hook for executing code after the bus has successfully switched into the SafeOp-State.

SDO of the slaves can be read and written. PDO data from the slaves have been read after switching to SafeOp, but no new updates to the slaves can bus until the bus in Op-state

Definition at line 66 of file DeviceInterface.h.

tryAssign()

virtual TryAssignResult tryAssign ( SlaveInterface &  slave )

pure virtual

Method called by the EtherCAT bus to try to assign slaves to functional devices.

See also

TryAssignResult

Parameters

slave

Returns

TryAssignResult holding the outcome of the method.

Member Data Documentation

subDevices

std::vector<std::shared_ptr<SubDeviceInterface> > subDevices

protected

Definition at line 134 of file DeviceInterface.h.

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

• armarx/control/ethercat/DeviceInterface.h
• armarx/control/ethercat/DeviceInterface.cpp