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

Inheritance diagram for SlaveInterfaceWithIO< InputT, OutputT >:

Public Member Functions
InputT *	getInputsPtr ()

OutputT *	getOutputsPtr ()

bool	hasPDOMapping () const final override

void	setInputPDO (void *ptr) override

void	setOutputPDO (void *ptr) override

	SlaveInterface (const SlaveIdentifier &slaveIdentifier)

Public Member Functions inherited from SlaveInterface
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	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	setName (const std::string &name)

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
InputT *	inputs {nullptr}

OutputT *	outputs

Protected Attributes inherited from SlaveInterface
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

template<class InputT, class OutputT>
class armarx::control::ethercat::SlaveInterfaceWithIO< InputT, OutputT >

Definition at line 143 of file SlaveInterface.h.

Member Function Documentation

◆ getInputsPtr()

InputT* getInputsPtr ( )

inline

Definition at line 188 of file SlaveInterface.h.

◆ getOutputsPtr()

OutputT* getOutputsPtr ( )

inline

Definition at line 182 of file SlaveInterface.h.

◆ hasPDOMapping()

bool hasPDOMapping ( ) const

inlinefinaloverridevirtual

Reimplemented from SlaveInterface.

Definition at line 176 of file SlaveInterface.h.

◆ setInputPDO()

void setInputPDO ( void * ptr )

inlineoverridevirtual

Implements SlaveInterface.

Definition at line 150 of file SlaveInterface.h.

◆ setOutputPDO()

void setOutputPDO ( void * ptr )

inlineoverridevirtual

Implements SlaveInterface.

Definition at line 163 of file SlaveInterface.h.

◆ SlaveInterface()

SlaveInterface

Definition at line 10 of file SlaveInterface.cpp.

Member Data Documentation

◆ inputs

InputT* inputs {nullptr}

protected

Definition at line 194 of file SlaveInterface.h.

◆ outputs

OutputT* outputs

protected

Definition at line 195 of file SlaveInterface.h.

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

armarx/control/ethercat/SlaveInterface.h

Public Member Functions

Protected Attributes

Additional Inherited Members