SoemMaster Class Reference

#include <soem_master.h>

Inheritance diagram for SoemMaster:

Collaboration diagram for SoemMaster:

Public Member Functions
	SoemMaster (Notifier &notifier, const std::string &ifname)
	~SoemMaster () override
size_t	start () override
	Start the EtherCAT master. More...
void	stop () override
	Stop the EtherCAT master. More...
size_t	restart () override
	Returns the number of EtherCAT slaves during a restart. More...
int32_t	execute (uint64_t pending_signals) override
	Main EtherCAT master loop function to be executed at one millisecond interval. More...
bool	is_running () override
	Check if the EtherCAT master is currently running. More...
int	get_slaves_responding () override
	Return the number of slaves actually responding on the bus. More...
std::list< VirtualDevice * >	get_slaves () override
	Get all of the available slaves. More...
bool	disable_all_slaves () override
	Switch all slaves to PREOP. More...
void	abort_all_client_requests () override
int	roundtrip ()
void	checkstate ()
Public Member Functions inherited from EthercatMaster
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

Static Public Member Functions
static void	wait_for_slaves (Notifier &notifier, const std::string &ifname)

Static Public Attributes
static std::map< uint16_t, std::unique_ptr< EthercatSlave > >	slaveMap {}
	Static map of EtherCAT slave instances. More...

Constructor & Destructor Documentation

SoemMaster()

SoemMaster::SoemMaster ( Notifier &  notifier, const std::string &  ifname  )

explicit

~SoemMaster()

SoemMaster::~SoemMaster ( )

override

Member Function Documentation

abort_all_client_requests()

void SoemMaster::abort_all_client_requests ( )

inlineoverridevirtual

Implements EthercatMaster.

checkstate()

void SoemMaster::checkstate

(

)

disable_all_slaves()

bool SoemMaster::disable_all_slaves ( )

overridevirtual

Switch all slaves to PREOP.

Attention

Must be implemented as non-blocking!

Returns

true on success, false otherwise

Implements EthercatMaster.

execute()

int32_t SoemMaster::execute ( uint64_t  pending_signals )

overridevirtual

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

Returns

error if any

Implements EthercatMaster.

get_slaves()

std::list< VirtualDevice * > SoemMaster::get_slaves ( )

overridevirtual

Get all of the available slaves.

Returns

map of available slaves

Implements EthercatMaster.

get_slaves_responding()

int SoemMaster::get_slaves_responding ( )

overridevirtual

Return the number of slaves actually responding on the bus.

Returns

number of responding slaves

Implements EthercatMaster.

is_running()

bool SoemMaster::is_running ( )

overridevirtual

Check if the EtherCAT master is currently running.

Returns

true if currently running, false otherwise

Implements EthercatMaster.

restart()

size_t SoemMaster::restart ( )

overridevirtual

Returns the number of EtherCAT slaves during a restart.

A restart is triggered when transitioning from PRE-OP to OP, typically due to updated PDO mappings on a device.

Returns

Current EtherCAT slave count.

Implements EthercatMaster.

roundtrip()

int SoemMaster::roundtrip

(

)

start()

size_t SoemMaster::start ( )

overridevirtual

Start the EtherCAT master.

Returns

the number of initially responding slaves

Implements EthercatMaster.

stop()

void SoemMaster::stop ( )

overridevirtual

Stop the EtherCAT master.

Implements EthercatMaster.

wait_for_slaves()

void SoemMaster::wait_for_slaves ( Notifier &  notifier, const std::string &  ifname  )

static

Member Data Documentation

slaveMap

std::map< uint16_t, std::unique_ptr< EthercatSlave > > SoemMaster::slaveMap {}

static

Static map of EtherCAT slave instances.

The slaveMap is declared static because other components of the system, such as ParameterValueRefresher, may hold raw pointers to instances of EthercatSlave (retrieved via SoemMaster::get_slaves()).

If slaveMap were a non-static member of SoemMaster, it would be destroyed when the SoemMaster instance goes out of scope. Since slaveMap holds std::unique_ptrs, this would also delete the associated slave objects and their Object Dictionary (OD) entries. Consequently, any component still holding raw pointers to those objects would be left with dangling references, leading to undefined behavior.

Declaring slaveMap as static ensures that these instances persist beyond the lifetime of a single SoemMaster instance, preventing invalid memory access.

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

• apps/motion_master/soem_master.h
• apps/motion_master/soem_master.cc