#include <ethernet_slave.h>

Inheritance diagram for EthernetSlave:

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Collaboration diagram for EthernetSlave:

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Public Member Functions
	EthernetSlave (const std::string &ipAddress, uint16_t position)
	~EthernetSlave () override
mm::comm::spoe::Device &	getDevice ()
uint16_t	get_device_id () const override
	Get the ID (absolute position) of the EtherCAT slave in the EtherCAT chain.
uint16_t	get_hardware_id () const override
	Get the hardware ID.
Type	get_device_type () const override
	Get the device type.
std::list< VirtualParameter * >	get_all_virtual_parameters () override
	Get all configuration parameters from a slave.
VirtualParameter *	get_virtual_parameter (uint16_t index, uint8_t subindex) override
	Get a configuration parameter by its index/subindex.
std::variant< MotionMasterError, std::list< std::string > >	get_file_list () override
	Get the list of available files on the device.
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.
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.
MotionMasterError	remove_file (const std::string &file_name) override
	Remove a file from the flash memory.
bool	has_firmware () override
	Check if the slave has a firmware installed.
bool	is_operational () const override
	Request the current slave state.
bool	is_supported ()
bool	has_pdos () override
	Check if PDO mapping is available.
State	get_state (bool force_refresh) const override
	Get the slave EtherCAT state.
bool	set_state (State state, uint32_t timeout_ms=5000) override
	Change the EtherCAT state of the slave.
Public Member Functions inherited from EthercatSlave
	EthercatSlave ()
	EthercatSlave (EthercatSlave const &)
	~EthercatSlave ()
Protocol	get_protocol () const override
	Get the protocol the device uses.
virtual MotionMasterError	write_sii (const std::vector< uint8_t > &content)
	Write the SII file content onto an EtherCAT slave.
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

Additional Inherited Members
Public Types inherited from EthercatSlave
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 Attributes inherited from EthercatSlave
uint16_t	obytes = 0
uint16_t	ibytes = 0
Static Public Attributes inherited from EthercatSlave
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_

Constructor & Destructor Documentation

◆ EthernetSlave()

EthernetSlave::EthernetSlave	(	const std::string &	ipAddress,
		uint16_t	position )

explicit

◆ ~EthernetSlave()

EthernetSlave::~EthernetSlave ( )

override

Member Function Documentation

◆ get_all_virtual_parameters()

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

nodiscardoverridevirtual

Get all configuration parameters from a slave.

Returns: a list of configuration parameters

Reimplemented from EthercatSlave.

◆ get_device_id()

uint16_t EthernetSlave::get_device_id ( ) const

nodiscardoverridevirtual

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

Returns: device ID

Reimplemented from EthercatSlave.

◆ get_device_type()

VirtualDevice::Type EthernetSlave::get_device_type ( ) const

nodiscardoverridevirtual

Get the device type.

Returns: Type enum

Reimplemented from EthercatSlave.

◆ get_file_list()

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

nodiscardoverridevirtual

Get the list of available files on the device.

Returns: the list of available files on the device

Reimplemented from EthercatSlave.

◆ get_hardware_id()

uint16_t EthernetSlave::get_hardware_id ( ) const

nodiscardoverridevirtual

Get the hardware ID.

Returns: the hardware ID

Reimplemented from EthercatSlave.

◆ get_state()

EthercatSlave::State EthernetSlave::get_state ( bool force_refresh ) const

nodiscardoverridevirtual

Get the slave EtherCAT state.

Returns: the slave EtherCAT state

Reimplemented from EthercatSlave.

◆ get_virtual_parameter()

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

nodiscardoverridevirtual

Get a configuration parameter by its index/subindex.

Parameters

index
subindex

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

Reimplemented from EthercatSlave.

◆ getDevice()

mm::comm::spoe::Device & EthernetSlave::getDevice ( )

◆ has_firmware()

bool EthernetSlave::has_firmware ( )

overridevirtual

Check if the slave has a firmware installed.

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

Reimplemented from EthercatSlave.

◆ has_pdos()

bool EthernetSlave::has_pdos ( )

nodiscardoverridevirtual

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 from EthercatSlave.

◆ is_operational()

bool EthernetSlave::is_operational ( ) const

nodiscardoverridevirtual

Request the current slave state.

Parameters

force_refresh force refresh the state of the slave first

Returns: the current state of the slave

Reimplemented from EthercatSlave.

◆ is_supported()

bool EthernetSlave::is_supported ( )

◆ read_file()

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

nodiscardoverridevirtual

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

Parameters

file_name

Returns: MotionMasterError or file content

Reimplemented from EthercatSlave.

◆ remove_file()

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

overridevirtual

Remove a file from the flash memory.

Parameters

file_name

Returns: error if any

Reimplemented from EthercatSlave.

◆ set_state()

bool EthernetSlave::set_state	(	EthercatSlave::State	state,
		uint32_t	timeout_ms = 5000 )

overridevirtual

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 from EthercatSlave.

◆ write_file()

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

overridevirtual

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

Reimplemented from EthercatSlave.

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

apps/motion_master/ethernet_slave.h
apps/motion_master/ethernet_slave.cc

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ EthernetSlave()

◆ ~EthernetSlave()

Member Function Documentation

◆ get_all_virtual_parameters()

◆ get_device_id()

◆ get_device_type()

◆ get_file_list()

◆ get_hardware_id()

◆ get_state()

◆ get_virtual_parameter()

◆ getDevice()

◆ has_firmware()

◆ has_pdos()

◆ is_operational()

◆ is_supported()

◆ read_file()

◆ remove_file()

◆ set_state()

◆ write_file()