#include <ethercat_slave.h>

Inheritance diagram for EthercatSlave:

Collaboration diagram for EthercatSlave:

Public Types
enum class	State : uint8_t { kUnspecified = 0 , kInit = 1 , kPreOp = 2 , kBoot = 3 , kSafeOp = 4 , kOp = 8 }

enum class	FoeError { kNotFound = 0x00008001 , kAccessDenied = 0x00008002 , kDiskFull = 0x00008003 , kIllegal = 0x00008004 , kPacketNumberWrong = 0x00008005 , kAlreadyExists = 0x00008006 , kNoUser = 0x00008007 , kBootstrapOnly = 0x00008008 , kNotBootstrap = 0x00008009 , kNoRights = 0x0000800a , kProgramError = 0x0000800b }

Public Types inherited from VirtualDevice
enum class	Protocol { kUnspecified = 0 , kMock , kEcat , kSerial }

enum class	Type { kUnspecified = 0 , kCia402Drive , kDigitalIo }

Public Member Functions
	EthercatSlave ()

	EthercatSlave (EthercatSlave const &)

	~EthercatSlave ()

uint16_t	get_device_id () const override
	Get the ID (absolute position) of the EtherCAT slave in the EtherCAT chain. More...

uint16_t	get_hardware_id () const override
	Get the hardware ID. More...

Protocol	get_protocol () const override
	Get the protocol the device uses. More...

Type	get_device_type () const override
	Get the device type. More...

std::list< VirtualParameter * >	get_all_virtual_parameters () override
	Get all configuration parameters from a slave. More...

VirtualParameter *	get_virtual_parameter (uint16_t index, uint8_t subindex) override
	Get a configuration parameter by its index/subindex. More...

std::variant< MotionMasterError, std::list< std::string > >	get_file_list () override
	Get the list of available files on the device. More...

std::variant< MotionMasterError, std::vector< uint8_t > >	read_file (const std::string &file_name) override
	Return the raw content (bytes) of the requested file from the flash memory. More...

MotionMasterError	write_file (const std::string &file_name, const std::vector< uint8_t > &content, std::function< void(uint8_t)> progress_callback) override
	Write raw content (bytes) into a file in the flash memory. More...

MotionMasterError	remove_file (const std::string &file_name) override
	Remove a file from the flash memory. More...

virtual bool	has_firmware ()
	Check if the slave has a firmware installed. More...

bool	is_operational () const override
	Request the current slave state. More...

virtual bool	has_pdos ()
	Check if PDO mapping is available. More...

virtual State	get_state (bool force_refresh) const
	Get the slave EtherCAT state. More...

virtual bool	set_state (State state, uint32_t timeout_ms=10000)
	Change the EtherCAT state of the slave. More...

virtual MotionMasterError	write_sii (const std::vector< uint8_t > &content)
	Write the SII file content onto an EtherCAT slave. More...

virtual void	update_pdo_mapping_od ()

virtual void	receive_pdos (const uint8_t *process_data)

virtual void	send_pdos (const uint8_t *process_data)

virtual bool	request_state_switch (State state)

Public Member Functions inherited from VirtualDevice
virtual	~VirtualDevice ()=default

virtual uint16_t	get_device_id () const =0
	Get the device ID. More...

virtual uint16_t	get_hardware_id () const =0
	Get the hardware ID. More...

virtual Protocol	get_protocol () const
	Get the protocol the device uses. More...

virtual Type	get_device_type () const
	Get the device type. More...

virtual std::list< VirtualParameter * >	get_all_virtual_parameters ()=0
	Get all available configuration parameters on the virtual device. More...

virtual VirtualParameter *	get_virtual_parameter (uint16_t index, uint8_t subindex)=0
	Get a configuration parameter. More...

virtual std::variant< MotionMasterError, std::list< std::string > >	get_file_list ()=0
	Get the list of available files on the device. More...

virtual std::variant< MotionMasterError, std::vector< uint8_t > >	read_file (const std::string &file_name)=0
	Get the file content from a file from the flash memory. More...

virtual MotionMasterError	write_file (const std::string &file_name, const std::vector< uint8_t > &content, std::function< void(uint8_t)> progress_callback)=0
	Write the file to the flash memory. More...

virtual MotionMasterError	remove_file (const std::string &file_name)=0
	Remove the file from the flash memory. More...

virtual bool	is_operational () const =0
	Check if the device is operational. More...

Public Attributes
uint16_t	obytes = 0

uint16_t	ibytes = 0

Static Public Attributes
static const std::map< State, std::map< State, State > >	ecat_state_machine_table_

static const std::map< FoeError, std::string >	foe_error_messages_

Static Public Attributes inherited from VirtualDevice
static const std::map< std::pair< uint32_t, uint32_t >, Type >	device_type_map_

Member Enumeration Documentation

◆ FoeError

enum class EthercatSlave::FoeError

strong

Enumerator
kNotFound
kAccessDenied
kDiskFull
kIllegal
kPacketNumberWrong
kAlreadyExists
kNoUser
kBootstrapOnly
kNotBootstrap
kNoRights
kProgramError

◆ State

enum class EthercatSlave::State : uint8_t

strong

Enumerator
kUnspecified
kInit
kPreOp
kBoot
kSafeOp
kOp

Constructor & Destructor Documentation

◆ EthercatSlave() [1/2]

EthercatSlave::EthercatSlave ( )

inline

◆ EthercatSlave() [2/2]

EthercatSlave::EthercatSlave ( EthercatSlave const & )

inline

◆ ~EthercatSlave()

EthercatSlave::~EthercatSlave ( )

inline

Member Function Documentation

◆ get_all_virtual_parameters()

std::list< VirtualParameter * > EthercatSlave::get_all_virtual_parameters ( )

inlineoverridevirtual

Get all configuration parameters from a slave.

Returns: a list of configuration parameters

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ get_device_id()

uint16_t EthercatSlave::get_device_id ( ) const

inlineoverridevirtual

Get the ID (absolute position) of the EtherCAT slave in the EtherCAT chain.

Returns: device ID

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ get_device_type()

Type EthercatSlave::get_device_type ( ) const

inlineoverridevirtual

Get the device type.

Returns: Type enum

Reimplemented from VirtualDevice.

Reimplemented in SoemSlave.

◆ get_file_list()

std::variant< MotionMasterError, std::list< std::string > > EthercatSlave::get_file_list ( )

inlineoverridevirtual

Get the list of available files on the device.

Returns: the list of available files on the device

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ get_hardware_id()

uint16_t EthercatSlave::get_hardware_id ( ) const

inlineoverridevirtual

Get the hardware ID.

Returns: the hardware ID

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ get_protocol()

Protocol EthercatSlave::get_protocol ( ) const

inlineoverridevirtual

Get the protocol the device uses.

Returns: Protocol enum

Reimplemented from VirtualDevice.

◆ get_state()

virtual State EthercatSlave::get_state ( bool force_refresh ) const

inlinevirtual

Get the slave EtherCAT state.

Returns: the slave EtherCAT state

Reimplemented in SoemSlave.

◆ get_virtual_parameter()

VirtualParameter * EthercatSlave::get_virtual_parameter	(	uint16_t	index,
		uint8_t	subindex
	)

inlineoverridevirtual

Get a configuration parameter by its index/subindex.

Parameters

index
subindex

Returns: the pointer to the virtual parameter if available, or nullptr if not

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ has_firmware()

virtual bool EthercatSlave::has_firmware ( )

inlinevirtual

Check if the slave has a firmware installed.

Returns: true if the slave has a firmware installed, false otherwise

Reimplemented in SoemSlave.

◆ has_pdos()

virtual bool EthercatSlave::has_pdos ( )

inlinevirtual

Check if PDO mapping is available.

Try to fetch all of the OD entries that define the PDO mapping

Returns: true if PDO mapping is available, false otherwise

Reimplemented in SoemSlave.

◆ is_operational()

bool EthercatSlave::is_operational ( ) const

inlineoverridevirtual

Request the current slave state.

Parameters

force_refresh force refresh the state of the slave first

Returns: the current state of the slave

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ read_file()

std::variant< MotionMasterError, std::vector< uint8_t > > EthercatSlave::read_file ( const std::string & file_name )

inlineoverridevirtual

Return the raw content (bytes) of the requested file from the flash memory.

Parameters

file_name

Returns: MotionMasterError or file content

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ receive_pdos()

virtual void EthercatSlave::receive_pdos ( const uint8_t * process_data )

inlinevirtual

Reimplemented in SoemSlave.

◆ remove_file()

MotionMasterError EthercatSlave::remove_file ( const std::string & file_name )

inlineoverridevirtual

Remove a file from the flash memory.

Parameters

file_name

Returns: error if any

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ request_state_switch()

virtual bool EthercatSlave::request_state_switch ( State state )

inlinevirtual

Reimplemented in SoemSlave.

◆ send_pdos()

virtual void EthercatSlave::send_pdos ( const uint8_t * process_data )

inlinevirtual

Reimplemented in SoemSlave.

◆ set_state()

virtual bool EthercatSlave::set_state	(	State	state,
		uint32_t	timeout_ms = `10000`
	)

inlinevirtual

Change the EtherCAT state of the slave.

Attention: This is a blocking function, which actually waits until the state has been changed

Parameters

state	EtherCAT state to switch the slave to
timeout_ms	Timeout in ms, or how long to poll the state, default value is 10000

Returns: true if successful, false otherwise

Reimplemented in SoemSlave.

◆ update_pdo_mapping_od()

virtual void EthercatSlave::update_pdo_mapping_od ( )

inlinevirtual

◆ write_file()

MotionMasterError EthercatSlave::write_file	(	const std::string &	file_name,
		const std::vector< uint8_t > &	content,
		std::function< void(uint8_t)>	progress_callback
	)

inlineoverridevirtual

Write raw content (bytes) into a file in the flash memory.

Parameters

file_name
content	vector of bytes
progress_callback	function to call for progress changes

Returns: error if any

Implements VirtualDevice.

Reimplemented in SoemSlave.

◆ write_sii()

virtual MotionMasterError EthercatSlave::write_sii ( const std::vector< uint8_t > & content )

inlinevirtual

Write the SII file content onto an EtherCAT slave.

content content as a vector of bytes

Returns: MotionMasterError if any

Reimplemented in SoemSlave.

Member Data Documentation

◆ ecat_state_machine_table_

const std::map<State, std::map<State, State> > EthercatSlave::ecat_state_machine_table_

inlinestatic

Initial value:

= {{State::kInit,
                                    {{State::kInit, State::kInit},
                                     {State::kPreOp, State::kPreOp},
                                     {State::kBoot, State::kBoot},
                                     {State::kSafeOp, State::kPreOp},
                                     {State::kOp, State::kPreOp}}},
                                   {State::kPreOp,
                                    {{State::kInit, State::kInit},
                                     {State::kPreOp, State::kPreOp},
                                     {State::kBoot, State::kInit},
                                     {State::kSafeOp, State::kSafeOp},
                                     {State::kOp, State::kSafeOp}}},
                                   {State::kBoot,
                                    {{State::kInit, State::kInit},
                                     {State::kPreOp, State::kInit},
                                     {State::kBoot, State::kBoot},
                                     {State::kSafeOp, State::kInit},
                                     {State::kOp, State::kInit}}},
                                   {State::kSafeOp,
                                    {{State::kInit, State::kInit},
                                     {State::kPreOp, State::kPreOp},
                                     {State::kBoot, State::kInit},
                                     {State::kSafeOp, State::kSafeOp},
                                     {State::kOp, State::kOp}}},
                                   {State::kOp,
                                    {{State::kInit, State::kInit},
                                     {State::kPreOp, State::kPreOp},
                                     {State::kBoot, State::kInit},
                                     {State::kSafeOp, State::kSafeOp},
                                     {State::kOp, State::kOp}}}}

Table of intermediate EtherCAT states for the EtherCAT state machine

Switch the slave into each intermediate state from the current state, until the target state has been reached.

<current_state, <target_state, intermediate_state>>

◆ foe_error_messages_

const std::map<FoeError, std::string> EthercatSlave::foe_error_messages_

inlinestatic

Initial value:

= {
      {FoeError::kNotFound, "Not found"},
      {FoeError::kAccessDenied, "Access denied"},
      {FoeError::kDiskFull, "Disk full"},
      {FoeError::kIllegal, "Illegal operation"},
      {FoeError::kPacketNumberWrong, "Packet number wrong"},
      {FoeError::kAlreadyExists, "Already exists"},
      {FoeError::kNoUser, "No user"},
      {FoeError::kBootstrapOnly, "Bootstrap only"},
      {FoeError::kNotBootstrap, "Not Bootstrap"},
      {FoeError::kNoRights, "No rights"},
      {FoeError::kProgramError, "Program Error"}}

◆ ibytes

uint16_t EthercatSlave::ibytes = 0

◆ obytes

uint16_t EthercatSlave::obytes = 0

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

apps/motion_master/ethercat_slave.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Member Enumeration Documentation

◆ FoeError

◆ State

Constructor & Destructor Documentation

◆ EthercatSlave() [1/2]

◆ EthercatSlave() [2/2]

◆ ~EthercatSlave()

Member Function Documentation

◆ get_all_virtual_parameters()

◆ get_device_id()

◆ get_device_type()

◆ get_file_list()

◆ get_hardware_id()

◆ get_protocol()

◆ get_state()

◆ get_virtual_parameter()

◆ has_firmware()

◆ has_pdos()

◆ is_operational()

◆ read_file()

◆ receive_pdos()

◆ remove_file()

◆ request_state_switch()

◆ send_pdos()

◆ set_state()

◆ update_pdo_mapping_od()

◆ write_file()

◆ write_sii()

Member Data Documentation

◆ ecat_state_machine_table_

◆ foe_error_messages_

◆ ibytes

◆ obytes