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
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 {}

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

A restart is required only when clients request an EtherCAT state change from PRE_OP to OP. This is presumably done because a new PDO mapping might have been set on a device, necessitating an update of the PDO mapping in the slave instance.

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

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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