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armarx::control::ethercat::datatypes Namespace Reference

Namespaces

 EtherCATDataType
 Holds all the types we support via EtherCAT as their C++ equivalents along with some tools to handle them.
 

Classes

struct  RegisterInfo
 The RegisterInfo struct holds additional information on one register. More...
 
struct  TypeMap
 Maps from EtherCATDataTypeEnum to EtherCATDataType. More...
 
struct  TypeMap< EtherCATDataTypeEnum::BIT1 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT2 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT3 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT4 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT5 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT6 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT7 >
 
struct  TypeMap< EtherCATDataTypeEnum::BIT8 >
 
struct  TypeMap< EtherCATDataTypeEnum::BOOLEAN >
 
struct  TypeMap< EtherCATDataTypeEnum::BYTE >
 
struct  TypeMap< EtherCATDataTypeEnum::INTEGER16 >
 
struct  TypeMap< EtherCATDataTypeEnum::INTEGER24 >
 
struct  TypeMap< EtherCATDataTypeEnum::INTEGER32 >
 
struct  TypeMap< EtherCATDataTypeEnum::INTEGER64 >
 
struct  TypeMap< EtherCATDataTypeEnum::INTEGER8 >
 
struct  TypeMap< EtherCATDataTypeEnum::OCTET_STRING >
 
struct  TypeMap< EtherCATDataTypeEnum::REAL32 >
 
struct  TypeMap< EtherCATDataTypeEnum::REAL64 >
 
struct  TypeMap< EtherCATDataTypeEnum::TIME_DIFFERENCE >
 
struct  TypeMap< EtherCATDataTypeEnum::TIME_OF_DAY >
 
struct  TypeMap< EtherCATDataTypeEnum::UNICODE_STRING >
 
struct  TypeMap< EtherCATDataTypeEnum::UNSIGNED16 >
 
struct  TypeMap< EtherCATDataTypeEnum::UNSIGNED24 >
 
struct  TypeMap< EtherCATDataTypeEnum::UNSIGNED32 >
 
struct  TypeMap< EtherCATDataTypeEnum::UNSIGNED64 >
 
struct  TypeMap< EtherCATDataTypeEnum::UNSIGNED8 >
 
struct  TypeMap< EtherCATDataTypeEnum::VISIBLE_STRING >
 

Typedefs

using RegisterEnumTypeContainer = std::variant< EtherCATDataType::INTEGER8, EtherCATDataType::INTEGER16, EtherCATDataType::INTEGER32, EtherCATDataType::INTEGER64, EtherCATDataType::UNSIGNED8, EtherCATDataType::UNSIGNED16, EtherCATDataType::UNSIGNED32, EtherCATDataType::UNSIGNED64 >
 

Enumerations

enum  EtherCATDataTypeEnum {
  BOOLEAN = 1, INTEGER8 = 2, INTEGER16 = 3, INTEGER32 = 4,
  UNSIGNED8 = 5, UNSIGNED16 = 6, UNSIGNED32 = 7, REAL32 = 8,
  VISIBLE_STRING = 9, OCTET_STRING = 10, UNICODE_STRING = 11, TIME_OF_DAY = 12,
  TIME_DIFFERENCE = 13, INTEGER24 = 16, REAL64 = 17, INTEGER64 = 21,
  UNSIGNED24 = 22, UNSIGNED64 = 27, BYTE = 30, BIT1 = 48,
  BIT2 = 49, BIT3 = 50, BIT4 = 51, BIT5 = 52,
  BIT6 = 53, BIT7 = 54, BIT8 = 55
}
 Holds all the types we support via EtherCAT in a type-agnostic enum. More...
 
enum  RegisterEnum {
  TYPE = 0x0, REVISION = 0x1, BUILD = 0x2, RAM_SIZE = 0x6,
  PORT0_DESCRIPTOR = 0x00007, PORT1_DESCRIPTOR = 0x20007, PORT2_DESCRIPTOR = 0x40007, PORT3_DESCRIPTOR = 0x60007,
  FMMU_BIT_NOT_SUPPORTED = 0x00008, NO_SUPPORT_RESERVED_REGISTER = 0x10008, DC_SUPPORTED = 0x20008, DC_RANGE = 0x30008,
  LOW_JITTER_EBUS = 0x40008, ENHANCED_LINK_DETECTION_EBUS = 0x50008, ENHANCED_LINK_DETECTION_MII = 0x60008, SEPARATE_FCS_ERROR_HANDLING = 0x70008,
  CONFIGURED_STATION_ADDRESS = 0x10, CONFIGURED_STATION_ALIAS = 0x12, DLS_USER_OPERATIONAL = 0x00110, LINK_STATUS_PORT_0 = 0x40110,
  LINK_STATUS_PORT_1 = 0x50110, LINK_STATUS_PORT_2 = 0x60110, LINK_STATUS_PORT_3 = 0x70110, LOOP_STATUS_PORT_0 = 0x00111,
  SIGNAL_DETECTION_PORT_0 = 0x10111, LOOP_STATUS_PORT_1 = 0x20111, SIGNAL_DETECTION_PORT_1 = 0x30111, LOOP_STATUS_PORT_2 = 0x40111,
  SIGNAL_DETECTION_PORT_2 = 0x50111, LOOP_STATUS_PORT_3 = 0x60111, SIGNAL_DETECTION_PORT_3 = 0x70111, STATUS_CONTROL = 0x120,
  DLS_USER_R2 = 0x121, STATUS = 0x130, DLS_USER_R4 = 0x131, DLS_USER_R5 = 0x132,
  DLS_USER_R6 = 0x134, DLS_USER_R7 = 0x140, DLS_USER_R8 = 0x150, DLS_USER_R9 = 0x141,
  FRAME_ERROR_COUNTER_PORT_0 = 0x300, PHYSICAL_ERROR_COUNTER_PORT_0 = 0x301, FRAME_ERROR_COUNTER_PORT_1 = 0x302, PHYSICAL_ERROR_COUNTER_PORT_1 = 0x303,
  FRAME_ERROR_COUNTER_PORT_2 = 0x304, PHYSICAL_ERROR_COUNTER_PORT_2 = 0x305, FRAME_ERROR_COUNTER_PORT_3 = 0x306, PHYSICAL_ERROR_COUNTER_PORT_3 = 0x307,
  PREVIOUS_ERROR_COUNTER_PORT_0 = 0x308, PREVIOUS_ERROR_COUNTER_PORT_1 = 0x309, PREVIOUS_ERROR_COUNTER_PORT_2 = 0x30A, PREVIOUS_ERROR_COUNTER_PORT_3 = 0x30B,
  MALFORMAT_FRAME_COUNTER = 0x30C, LOCAL_PROBLEM_COUNTER = 0x30D, LOST_LINK_COUNTER_PORT_0 = 0x310, LOST_LINK_COUNTER_PORT_1 = 0x311,
  LOST_LINK_COUNTER_PORT_2 = 0x312, LOST_LINK_COUNTER_PORT_3 = 0x313, SII_READ_OPERATION = 0x00503, SII_WRITE_OPERATION = 0x10503,
  SII_RELOAD_OPERATION = 0x20503, SII_CHECKSUM_ERROR = 0x30503, SII_DEVICE_INFO_ERROR = 0x40503, SII_COMMAND_ERROR = 0x50503,
  SII_WRITE_ERROR = 0x60503, SII_BUSY = 0x70503, SYSTEM_TIME = 0x910
}
 The RegisterEnum enum encodes the slave registers that every slave offers. More...
 

Functions

std::uint32_t getRegisterAddress (RegisterEnum e)
 
std::uint8_t getRegisterSubAddress (RegisterEnum e)
 
template<EtherCATDataTypeEnum E>
RegisterInfo makeInfo (const std::string &name)
 
bool operator< (RegisterEnum a, RegisterEnum b)
 

Variables

const std::unordered_map< RegisterEnum, RegisterInfo > registerMap
 Holds additional information on all defined registers. More...
 

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

◆ RegisterEnumTypeContainer

using RegisterEnumTypeContainer = std::variant<EtherCATDataType::INTEGER8, EtherCATDataType::INTEGER16, EtherCATDataType::INTEGER32, EtherCATDataType::INTEGER64, EtherCATDataType::UNSIGNED8, EtherCATDataType::UNSIGNED16, EtherCATDataType::UNSIGNED32, EtherCATDataType::UNSIGNED64>

Definition at line 160 of file SlaveRegisters.h.

Function Documentation

◆ getRegisterAddress()

std::uint32_t armarx::control::ethercat::datatypes::getRegisterAddress ( RegisterEnum  e)
inline

Definition at line 109 of file SlaveRegisters.h.

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◆ getRegisterSubAddress()

std::uint8_t armarx::control::ethercat::datatypes::getRegisterSubAddress ( RegisterEnum  e)
inline

Definition at line 116 of file SlaveRegisters.h.

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◆ makeInfo()

RegisterInfo armarx::control::ethercat::datatypes::makeInfo ( const std::string &  name)

Definition at line 174 of file SlaveRegisters.h.

◆ operator<()

bool armarx::control::ethercat::datatypes::operator< ( RegisterEnum  a,
RegisterEnum  b 
)
inline

Definition at line 124 of file SlaveRegisters.h.

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Variable Documentation

◆ registerMap

const std::unordered_map<RegisterEnum, RegisterInfo> registerMap

Holds additional information on all defined registers.

Definition at line 182 of file SlaveRegisters.h.