EthercatMaster Class Reference

#include <ethercat_master.h>

Inheritance diagram for EthercatMaster:

Public Member Functions
virtual	~EthercatMaster ()=default
virtual size_t	start ()=0
	Start the EtherCAT master. More...
virtual void	stop ()=0
	Stop the EtherCAT master. More...
virtual size_t	restart ()=0
	Restart the EtherCAT master. More...
virtual int32_t	execute (uint64_t pending_signals)=0
	Main EtherCAT master loop function to be executed at one millisecond interval. More...
virtual bool	is_running ()=0
	Check if the EtherCAT master is currently running. More...
virtual int	get_slaves_responding ()=0
	Return the number of slaves actually responding on the bus. More...
virtual std::list< VirtualDevice * >	get_slaves ()=0
	Get all of the available slaves. More...
virtual bool	disable_all_slaves ()=0
	Switch all slaves to PREOP. More...
virtual void	abort_all_client_requests ()=0

Constructor & Destructor Documentation

~EthercatMaster()

virtual EthercatMaster::~EthercatMaster ( )

virtualdefault

Member Function Documentation

abort_all_client_requests()

virtual void EthercatMaster::abort_all_client_requests ( )

pure virtual

Implemented in EthernetMaster, MockMaster, and SoemMaster.

disable_all_slaves()

virtual bool EthercatMaster::disable_all_slaves ( )

pure virtual

Switch all slaves to PREOP.

Attention

Must be implemented as non-blocking!

Returns

true on success, false otherwise

Implemented in EthernetMaster, MockMaster, and SoemMaster.

execute()

virtual int32_t EthercatMaster::execute ( uint64_t  pending_signals )

pure virtual

Main EtherCAT master loop function to be executed at one millisecond interval.

Returns

error if any

Implemented in EthernetMaster, MockMaster, and SoemMaster.

get_slaves()

virtual std::list< VirtualDevice * > EthercatMaster::get_slaves ( )

pure virtual

Get all of the available slaves.

Returns

map of available slaves

Implemented in EthernetMaster, MockMaster, and SoemMaster.

get_slaves_responding()

virtual int EthercatMaster::get_slaves_responding ( )

pure virtual

Return the number of slaves actually responding on the bus.

Returns

number of responding slaves

Implemented in EthernetMaster, MockMaster, and SoemMaster.

is_running()

virtual bool EthercatMaster::is_running ( )

pure virtual

Check if the EtherCAT master is currently running.

Returns

true if currently running, false otherwise

Implemented in EthernetMaster, MockMaster, and SoemMaster.

restart()

virtual size_t EthercatMaster::restart ( )

pure virtual

Restart the EtherCAT master.

This function deactivates the master (and slaves) and activates it again

Returns

the number of responding slaves

Exceptions

std::runtime_error

Implemented in EthernetMaster, MockMaster, and SoemMaster.

start()

virtual size_t EthercatMaster::start ( )

pure virtual

Start the EtherCAT master.

Returns

the number of initially responding slaves

Implemented in EthernetMaster, MockMaster, and SoemMaster.

stop()

virtual void EthercatMaster::stop ( )

pure virtual

Stop the EtherCAT master.

Implemented in EthernetMaster, MockMaster, and SoemMaster.

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

• apps/motion_master/ethercat_master.h