Brief description of class SlaveInterface. More...
#include <armarx/control/ethercat/SlaveInterface.h>
Inheritance diagram for SlaveInterface:Public Member Functions | |
| virtual void | doMappings ()=0 |
| This is called after EtherCAT Bus is PreOp Mode. More... | |
| virtual void | execute ()=0 |
| This method gets triggered by the Bus Controller, this function hast to be implemented cooperative. More... | |
| virtual void | finishPreparingForOp () |
| This gets called after prepareForOp() was called. More... | |
| virtual void | finishPreparingForSafeOp () |
| SlaveErrorRegistersDevicePtr | getErrorRegistersDevice () const |
| const SlaveIdentifier & | getSlaveIdentifier () const |
| std::uint16_t | getSlaveNumber () const |
| This returns the slave number of the slave on the bus +1 because slave 0 is the master. More... | |
| virtual bool | handleErrors () |
| This tries to clear oder fix the errors or problems of the slave or just gives detailed information about the problem. More... | |
| virtual bool | hasError ()=0 |
| This function indicates if there is a error or Problem with this slave. More... | |
| virtual bool | hasPDOMapping () const |
| virtual bool | isEmergencyStopActive () const |
| virtual void | prepareForOp ()=0 |
| This gets called between the SafeOp an the Op state of the bus at the initizialisation. More... | |
| virtual bool | prepareForRun ()=0 |
| This gets triggered by the bus controller before it will start the control loop. More... | |
| virtual void | prepareForSafeOp () |
| virtual bool | recoverFromEmergencyStop () |
| void | setErrorRegistersDevice (SlaveErrorRegistersDevicePtr errorRegistersDevice) |
| virtual void | setInputPDO (void *ptr)=0 |
| virtual void | setName (const std::string &name) |
| virtual void | setOutputPDO (void *ptr)=0 |
| void | setParentDeviceName (const std::string &name) |
| virtual bool | shutdown ()=0 |
| This gets triggered by the bus Controller before it will close the EtherCAT bus. More... | |
| SlaveInterface (const SlaveIdentifier &slaveIdentifier) | |
| virtual | ~SlaveInterface () override |
| 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 () |
Protected Attributes | |
| SlaveErrorRegistersDevicePtr | errorRegistersDevice |
| SlaveIdentifier | slaveIdentifier |
| Protected Attributes inherited from Logging | |
| MessageTypeT | minimumLoggingLevel |
| SpamFilterDataPtr | spamFilter |
| LogTag | tag |
Additional Inherited Members | |
| 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 |
Detailed Description
Brief description of class SlaveInterface.
Detailed description of class SlaveInterface.
Definition at line 29 of file SlaveInterface.h.
Constructor & Destructor Documentation
◆ SlaveInterface()
| SlaveInterface | ( | const SlaveIdentifier & | slaveIdentifier | ) |
Definition at line 10 of file SlaveInterface.cpp.
◆ ~SlaveInterface()
|
inlineoverridevirtual |
Definition at line 34 of file SlaveInterface.h.
Member Function Documentation
◆ doMappings()
|
pure virtual |
This is called after EtherCAT Bus is PreOp Mode.
This is where the PDO Mapping can be configured for the slave.
◆ execute()
|
pure virtual |
◆ finishPreparingForOp()
|
inlinevirtual |
This gets called after prepareForOp() was called.
This is useful if prepareForOp() executes a long running initialization and needs to be done before the slave goes into op
Definition at line 81 of file SlaveInterface.h.
◆ finishPreparingForSafeOp()
|
inlinevirtual |
Definition at line 91 of file SlaveInterface.h.
◆ getErrorRegistersDevice()
| SlaveErrorRegistersDevicePtr getErrorRegistersDevice | ( | ) | const |
Definition at line 61 of file SlaveInterface.cpp.
◆ getSlaveIdentifier()
| const SlaveIdentifier & getSlaveIdentifier | ( | ) | const |
Definition at line 34 of file SlaveInterface.cpp.
◆ getSlaveNumber()
| std::uint16_t getSlaveNumber | ( | ) | const |
This returns the slave number of the slave on the bus +1 because slave 0 is the master.
- Returns
- index in ec_slave array
Definition at line 20 of file SlaveInterface.cpp.
◆ handleErrors()
|
virtual |
This tries to clear oder fix the errors or problems of the slave or just gives detailed information about the problem.
If hasError == false this function does nothing.
- Returns
- true if the function is trying to recover the slave or there is no error, false is send if this just reports the info
Definition at line 27 of file SlaveInterface.cpp.
Here is the call graph for this function:◆ hasError()
|
pure virtual |
This function indicates if there is a error or Problem with this slave.
It should not
- Returns
- true if there is an error/problem with this slave otherwise false;
Here is the caller graph for this function:◆ hasPDOMapping()
|
inlinevirtual |
Reimplemented in SlaveInterfaceWithIO< InputT, OutputT >.
Definition at line 131 of file SlaveInterface.h.
◆ isEmergencyStopActive()
|
inlinevirtual |
Definition at line 102 of file SlaveInterface.h.
◆ prepareForOp()
|
pure virtual |
This gets called between the SafeOp an the Op state of the bus at the initizialisation.
The slave can assume that the PDO is already mapped
◆ prepareForRun()
|
pure virtual |
This gets triggered by the bus controller before it will start the control loop.
If a slave needs more preparation than just getting in EtherCAT Op-Mode this should be done here. So slaves can assume that the EtherCAT state machine is in Op-Mode so PDO's are available. Attention!!! This needs to be implemented cooperative
- Returns
- true if the prepare is finished an don't needs to be called again
◆ prepareForSafeOp()
|
inlinevirtual |
Definition at line 86 of file SlaveInterface.h.
◆ recoverFromEmergencyStop()
|
inlinevirtual |
Definition at line 108 of file SlaveInterface.h.
◆ setErrorRegistersDevice()
| void setErrorRegistersDevice | ( | SlaveErrorRegistersDevicePtr | errorRegistersDevice | ) |
Definition at line 53 of file SlaveInterface.cpp.
◆ setInputPDO()
|
pure virtual |
Implemented in SlaveInterfaceWithIO< InputT, OutputT >.
◆ setName()
|
virtual |
◆ setOutputPDO()
|
pure virtual |
Implemented in SlaveInterfaceWithIO< InputT, OutputT >.
◆ setParentDeviceName()
| void setParentDeviceName | ( | const std::string & | name | ) |
◆ shutdown()
|
pure virtual |
This gets triggered by the bus Controller before it will close the EtherCAT bus.
So if the device need to do something before to get in a safe state, this can be done here. Attention!!! This needs to be implemented cooperative
- Returns
- if slave is shut down
Member Data Documentation
◆ errorRegistersDevice
|
protected |
Definition at line 138 of file SlaveInterface.h.
◆ slaveIdentifier
|
protected |
Definition at line 137 of file SlaveInterface.h.
The documentation for this class was generated from the following files:
- armarx/control/ethercat/SlaveInterface.h
- armarx/control/ethercat/SlaveInterface.cpp
