Namespaces
	datatypes

	reporting

	timing

Classes
class	Bus
	Brief description of class Bus. More...

class	BusErrorHandler
	Brief description of class BusErrorHandler. More...

class	BusIO
	Brief description of class BusIO. More...

class	ChangeStateRequest
	Brief description of class ChangeStateRequest. More...

class	DataInterface
	Brief description of class DataInterface. More...

class	DeviceInterface
	Brief description of class DeviceInterface. More...

struct	ESIData
	Holds ESI data that can be read from slaves via SII. More...

struct	ESIGeneral

class	ESIHandler
	Brief description of class ESIHandler. More...

struct	ESIHeader

class	ESIParser

struct	ESIPDOEntry

struct	ESIPDOObject

struct	ESISyncMElement

struct	EtherCATFrame
	The EtherCATFrame struct represents an EtherCAT frame according to the EtherCAT spec. More...

class	EtherCATFrameIterator
	The EtherCATFrameIterator class iterates over a set range of EtherCAT frames once. More...

struct	EtherCATFrameList
	The EtherCATFrameList struct holds a list of EtherCAT frames that can be scheduled in round-robin-style. More...

struct	EtherCATFrameMetaData
	The EtherCATFrameMetaData struct holds information about the structure of an EtherCAT frame. More...

struct	EtherCATPDU
	The EtherCATPDU struct represents an EtherCAT PDU according to the EtherCAT spec. More...

class	EtherCATState
	This class is a wrapper around an enum containing the different EtherCAT states. More...

class	LinearConvertedValue
	Brief description of class LinearConvertedValue. More...

class	ModularConvertedValue

struct	PDUMetaData
	The PDUMetaData struct holds information about the structure of a PDU. More...

class	ReadStatesRequest
	Brief description of class ReadStatesRequest. More...

struct	RegisterDataList
	Brief description of struct RegisterDataList. More...

class	RegisterReadRequest
	Brief description of class RegisterReadRequest. More...

class	RegisterResetRequest
	Brief description of class RegisterResetRequest. More...

class	RequestBase
	Brief description of class RequestBase. More...

class	RequestQueue
	Brief description of class RequestQueue. More...

class	RTUnit
	Brief description of class RTUnit. More...

class	RTUtility
	The RTUtility class contains functions for improving the realtime capabilities of a thread or of the whole system. More...

struct	SDOIdentifier

class	SDOUpdateRequest
	Brief description of class SDOUpdateRequest. More...

class	SlaveErrorRegistersDevice
	Brief description of class SlaveErrorRegistersDevice. More...

class	SlaveErrorRegistersSensorValue

class	SlaveIdentifier
	The SlaveIdentifier class is a POD-type representing a unique set of values identifying an EtherCAT slave. More...

class	SlaveInterface
	Brief description of class SlaveInterface. More...

class	SlaveInterfaceWithIO

class	SlaveRegisterReadingScheduler
	Brief description of class SlaveRegisterReadingScheduler. More...

struct	Timeouts

Typedefs
using	ESIFMMU = std::vector< std::uint8_t >

using	ESIRxPDO = std::vector< ESIPDOObject >

using	ESIStrings = std::vector< std::string >

using	ESISyncM = std::vector< ESISyncMElement >

using	ESITxPDO = std::vector< ESIPDOObject >

using	Reporting = reporting::Reporting

using	ReportingEntry = reporting::Entry

using	ReportingType = reporting::Type

using	SlaveErrorRegistersDevicePtr = std::shared_ptr< SlaveErrorRegistersDevice >

using	SlaveList = std::vector< SlaveInterface * >

Enumerations
enum	BusFunctionalState { Running, Reinitializing, EmergencyStop, Shutdown }

enum	MailboxProtocols { AOE = 0x1, EOE = 0x2, COE = 0x4, FOE = 0x8, SOE = 0x10, VOE = 0x20 }

enum	PDOValidity { None, OnlyInputs, Both }

Functions
struct armarx::control::ethercat::EtherCATPDU	__attribute__ ((packed))

template<typename Device >
std::shared_ptr< DeviceInterface >	createDevice (hardware_config::DeviceConfig &config, const VirtualRobot::RobotPtr &robot)

template<typename Slave >
std::unique_ptr< armarx::control::ethercat::SlaveInterface >	createSlave (const SlaveIdentifier &sid)

std::int16_t	get16 (const std::vector< std::byte > &esiBinary, std::uint16_t address)

std::size_t	getRegisterByteLength (datatypes::RegisterEnum reg)
	Get the length of a register in bytes, rounded up. More...

std::uint16_t	getU16 (const std::vector< std::byte > &esiBinary, std::uint16_t address)

std::uint16_t	getU16W (const std::vector< std::byte > &esiBinary, std::uint16_t wordAddress)

std::uint32_t	getU32 (const std::vector< std::byte > &esiBinary, std::uint16_t address)

std::uint32_t	getU32W (const std::vector< std::byte > &esiBinary, std::uint16_t wordAddress)

std::uint8_t	getU8 (const std::vector< std::byte > &esiBinary, std::uint16_t address)

template<typename SlaveI , typename Slave >
DeviceInterface::TryAssignResult	tryAssignUsingSerialNo (SlaveI &slave, Slave *&concreteSlave, std::uint32_t serialNo)

	TYPEDEF_PTRS_SHARED (SlaveErrorRegistersDevice)

Variables
struct armarx::control::ethercat::PDUMetaData	__attribute__

constexpr std::uint16_t	ESI_Header_EndAdress = 0x0040

constexpr std::uint16_t	ESI_Header_StartAdress = 0x0000

Detailed Description

Copied from https://gitlab.com/h2t/student-projects/pse-ws2021/etherkitten/-/tree/master/reader/src/etherkitten/reader

!!! Needs correct license message!!!! !!!

Typedef Documentation

◆ ESIFMMU

using ESIFMMU = std::vector<std::uint8_t>

Definition at line 123 of file ESI.h.

◆ ESIRxPDO

using ESIRxPDO = std::vector<ESIPDOObject>

Definition at line 159 of file ESI.h.

◆ ESIStrings

using ESIStrings = std::vector<std::string>

Definition at line 101 of file ESI.h.

◆ ESISyncM

using ESISyncM = std::vector<ESISyncMElement>

Definition at line 135 of file ESI.h.

◆ ESITxPDO

using ESITxPDO = std::vector<ESIPDOObject>

Definition at line 158 of file ESI.h.

◆ Reporting

using Reporting = reporting::Reporting

Definition at line 236 of file ErrorReporting.h.

◆ ReportingEntry

using ReportingEntry = reporting::Entry

Definition at line 234 of file ErrorReporting.h.

◆ ReportingType

using ReportingType = reporting::Type

Definition at line 235 of file ErrorReporting.h.

◆ SlaveErrorRegistersDevicePtr

using SlaveErrorRegistersDevicePtr = std::shared_ptr<SlaveErrorRegistersDevice>

Definition at line 18 of file SlaveInterface.h.

◆ SlaveList

using SlaveList = std::vector<SlaveInterface*>

Definition at line 35 of file BusErrorHandler.h.

Enumeration Type Documentation

◆ BusFunctionalState

enum BusFunctionalState

strong

Enumerator
Running
Reinitializing
EmergencyStop
Shutdown

Definition at line 41 of file Bus.h.

◆ MailboxProtocols

enum MailboxProtocols

strong

Enumerator
AOE
EOE
COE
FOE
SOE
VOE

Definition at line 91 of file ESI.h.

◆ PDOValidity

enum PDOValidity

strong

Enumerator
None
OnlyInputs
Both

Definition at line 34 of file Bus.h.

Function Documentation

◆ attribute()

struct armarx::control::ethercat::EtherCATPDU armarx::control::ethercat::__attribute__ ( (packed) )

◆ createDevice()

std::shared_ptr<DeviceInterface> armarx::control::ethercat::createDevice	(	hardware_config::DeviceConfig &	config,
		const VirtualRobot::RobotPtr &	robot
	)

Definition at line 136 of file DeviceInterface.h.

◆ createSlave()

std::unique_ptr<armarx::control::ethercat::SlaveInterface> armarx::control::ethercat::createSlave ( const SlaveIdentifier & sid )

Definition at line 198 of file SlaveInterface.h.

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◆ get16()

std::int16_t armarx::control::ethercat::get16	(	const std::vector< std::byte > &	esiBinary,
		std::uint16_t	address
	)

Definition at line 99 of file ESI.cpp.

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◆ getRegisterByteLength()

std::size_t getRegisterByteLength ( datatypes::RegisterEnum reg )

Get the length of a register in bytes, rounded up.

Parameters

reg	the register to get the length of

Returns: the length of the register

Definition at line 6 of file SlaveRegisters.cpp.

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◆ getU16()

std::uint16_t armarx::control::ethercat::getU16	(	const std::vector< std::byte > &	esiBinary,
		std::uint16_t	address
	)

Definition at line 89 of file ESI.cpp.

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◆ getU16W()

std::uint16_t armarx::control::ethercat::getU16W	(	const std::vector< std::byte > &	esiBinary,
		std::uint16_t	wordAddress
	)

Definition at line 106 of file ESI.cpp.

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◆ getU32()

std::uint32_t armarx::control::ethercat::getU32	(	const std::vector< std::byte > &	esiBinary,
		std::uint16_t	address
	)

Definition at line 112 of file ESI.cpp.

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◆ getU32W()

std::uint32_t armarx::control::ethercat::getU32W	(	const std::vector< std::byte > &	esiBinary,
		std::uint16_t	wordAddress
	)

Definition at line 124 of file ESI.cpp.

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◆ getU8()

std::uint8_t armarx::control::ethercat::getU8	(	const std::vector< std::byte > &	esiBinary,
		std::uint16_t	address
	)

Definition at line 81 of file ESI.cpp.

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◆ tryAssignUsingSerialNo()

DeviceInterface::TryAssignResult armarx::control::ethercat::tryAssignUsingSerialNo	(	SlaveI &	slave,
		Slave *&	concreteSlave,
		std::uint32_t	serialNo
	)

Definition at line 143 of file DeviceInterface.h.

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◆ TYPEDEF_PTRS_SHARED()

armarx::control::ethercat::TYPEDEF_PTRS_SHARED ( SlaveErrorRegistersDevice )

Variable Documentation

◆ attribute

struct armarx::control::ethercat::PDUMetaData __attribute__

◆ ESI_Header_EndAdress

constexpr std::uint16_t ESI_Header_EndAdress = 0x0040

constexpr

Definition at line 36 of file ESI.h.

◆ ESI_Header_StartAdress

constexpr std::uint16_t ESI_Header_StartAdress = 0x0000

constexpr

Definition at line 35 of file ESI.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ ESIFMMU

◆ ESIRxPDO

◆ ESIStrings

◆ ESISyncM

◆ ESITxPDO

◆ Reporting

◆ ReportingEntry

◆ ReportingType

◆ SlaveErrorRegistersDevicePtr

◆ SlaveList

Enumeration Type Documentation

◆ BusFunctionalState

◆ MailboxProtocols

◆ PDOValidity

Function Documentation

◆ __attribute__()

◆ createDevice()

◆ createSlave()

◆ get16()

◆ getRegisterByteLength()

◆ getU16()

◆ getU16W()

◆ getU32()

◆ getU32W()

◆ getU8()

◆ tryAssignUsingSerialNo()

◆ TYPEDEF_PTRS_SHARED()

Variable Documentation

◆ __attribute__

◆ ESI_Header_EndAdress

◆ ESI_Header_StartAdress

◆ attribute()

◆ attribute