Bus Class Reference

Brief description of class Bus. More...

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

Inheritance diagram for Bus:

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

Public Member Functions
void	configureErrorCountersReading (bool enable, unsigned int periodInMS)
	configureErrorCountersReading configure stuff
const std::vector< std::shared_ptr< DeviceInterface > > &	getDevices () const
	Returns all initialized devices.
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.
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.
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.
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.
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.
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.
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.
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.
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.
MessageTypeT	getEffectiveLoggingLevel () const
	Logging ()
void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.
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.

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.
Protected Member Functions inherited from BusIO
	BusIO ()
void	rtUpdatePDO ()
	Updates the PDO of all slaves.
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.
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.

Member Typedef Documentation

DeviceFactory

using DeviceFactory

Initial value:

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

SlaveFactory

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

Member Function Documentation

configureErrorCountersReading()

void configureErrorCountersReading	(	bool	enable,
		unsigned int	periodInMS )

configureErrorCountersReading configure stuff

more configure stuff explanation

Parameters

enable	sadösdm
periodInMS	asdsads

getBus()

Bus & getBus ( )

static

This returns the one and only Bus object.

An implements the singelton pattern

Returns

The Bus instance

getDevices()

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

(

)

const

Returns all initialized devices.

Returns

getIterationCount()

std::uint64_t getIterationCount

(

)

const

getPDOValidity()

PDOValidity getPDOValidity

(

)

const

getSlaveAtIndex()

std::experimental::observer_ptr< SlaveInterface > getSlaveAtIndex

(

std::uint16_t

slaveIndex

)

const

getSlaves()

std::vector< std::experimental::observer_ptr< SlaveInterface > > getSlaves

(

)

const

Returns all identifiied slaves on the bus.

Returns

logErrorsToFile()

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

registerDeviceFactory()

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

registerSlaveFactory()

void registerSlaveFactory

(

const SlaveFactory &

factory

)

rtGetEtherCATState()

EtherCATState rtGetEtherCATState

(

)

const

rtGetFunctionalState()

BusFunctionalState rtGetFunctionalState

(

)

const

rtHasError()

bool rtHasError

(

)

const

rtIsEmergencyStopActive()

bool rtIsEmergencyStopActive

(

)

const

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 op

setAndParseHardwareConfig()

void setAndParseHardwareConfig

(

const MultiNodeRapidXMLReader &

hwconfig

)

setIfName()

void setIfName

(

const std::string &

ifname

)

setRobot()

void setRobot

(

const VirtualRobot::RobotPtr &

robot

)

setSocketFileDescriptor()

void setSocketFileDescriptor

(

int

socketFileDescriptor

)

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.

switchBusToInit()

bool switchBusToInit

(

)

switchBusToOp()

bool switchBusToOp

(

)

switchBusToPreOp()

bool switchBusToPreOp

(

)

switchBusToSafeOp()

bool switchBusToSafeOp

(

)

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

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