#include <soem_slave.h>

Inheritance diagram for SoemSlave:

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Collaboration diagram for SoemSlave:

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Public Member Functions
	SoemSlave (const uint16_t position)
	~SoemSlave () override
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.
bool	has_virtual_parameters () override
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 ()
void	initialize ()
	Initializes the slave based on its current EtherCAT state.
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=10000) override
	Change the EtherCAT state of the slave.
bool	request_state_switch (State state) override
MotionMasterError	write_sii (const std::vector< uint8_t > &content) override
void	receive_pdos (const uint8_t *process_data) override
void	update_outputs ()
void	send_pdos (const uint8_t *process_data) override
void	update_inputs ()
std::variant< MotionMasterError, std::vector< uint8_t > >	get_file_content (const std::string &file_name)
int32_t	set_file_content (const std::string &file_name, const std::vector< uint8_t > &content)
MotionMasterError	do_remove_file (const std::string &file_name)
std::vector< uint8_t >	read_sii ()
Public Member Functions inherited from EthercatSlave
	EthercatSlave ()
	EthercatSlave (EthercatSlave const &)
	~EthercatSlave ()
Protocol	get_protocol () const override
	Get the protocol the device uses.
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

◆ SoemSlave()

SoemSlave::SoemSlave ( const uint16_t position )

explicit

◆ ~SoemSlave()

SoemSlave::~SoemSlave ( )

inlineoverride

Member Function Documentation

◆ do_remove_file()

MotionMasterError SoemSlave::do_remove_file ( const std::string & file_name )

◆ get_all_virtual_parameters()

std::list< VirtualParameter * > SoemSlave::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 SoemSlave::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 SoemSlave::get_device_type ( ) const

nodiscardoverridevirtual

Get the device type.

Returns: Type enum

Reimplemented from EthercatSlave.

◆ get_file_content()

std::variant< MotionMasterError, std::vector< uint8_t > > SoemSlave::get_file_content ( const std::string & file_name )

nodiscard

◆ get_file_list()

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

nodiscardoverridevirtual

Get the list of available files on the device.

Returns: the list of available files on the device

Attention: WORKAROUND: Execute fs-getlist twice in a row if the EtherCAT slave is in EtherCAT BOOT state

If the fs-getlist output is too long, and the EtherCAT slave is currently in EtherCAT BOOT state, the command will return the truncated output in the first call and the rest of the output in the second call.

Reimplemented from EthercatSlave.

◆ get_hardware_id()

uint16_t SoemSlave::get_hardware_id ( ) const

nodiscardoverridevirtual

Get the hardware ID.

Returns: the hardware ID

Reimplemented from EthercatSlave.

◆ get_state()

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

nodiscardoverridevirtual

Get the slave EtherCAT state.

Returns: the slave EtherCAT state

Reimplemented from EthercatSlave.

◆ get_virtual_parameter()

VirtualParameter * SoemSlave::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.

◆ has_firmware()

bool SoemSlave::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 SoemSlave::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.

◆ has_virtual_parameters()

bool SoemSlave::has_virtual_parameters ( )

nodiscardoverridevirtual

Reimplemented from VirtualDevice.

◆ initialize()

void SoemSlave::initialize ( )

Initializes the slave based on its current EtherCAT state.

Reads the slave's state and performs state-dependent initialization:

PRE-OP — Full initialization: resolves the hardware ID, applies the PDO mapping from the UI configuration, sets up the Object Dictionary entries, updates the PDO mapping OD, and configures any detected SMM module.
BOOT — Minimal initialization: resolves the hardware ID only. PDO mapping and OD setup are skipped because the device likely has no firmware and is awaiting a firmware upload via FoE.
Any other state — No action is taken.

◆ is_operational()

bool SoemSlave::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 SoemSlave::is_supported ( )

◆ read_file()

std::variant< MotionMasterError, std::vector< uint8_t > > SoemSlave::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.

◆ read_sii()

std::vector< uint8_t > SoemSlave::read_sii ( )

◆ receive_pdos()

void SoemSlave::receive_pdos ( const uint8_t * process_data )

overridevirtual

Note: Use the roundtrip() function within the SoemMaster class.

Reimplemented from EthercatSlave.

◆ remove_file()

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

overridevirtual

Remove a file from the flash memory.

Parameters

file_name

Returns: error if any

Attention: Clear the files_to_delete list

The files_to_delete list should be empty at this point, but clear it anyway just because of possible future changes to the code which could result in some files still being in the list.

Try removing files outside of the file list - SAFETY SWEEP

Attention: There are no error codes for removing files, so there is no way to know if the file ever existed in the first place before it was removed, or if there was an error during file removal. To work around this, all of the files are being read first and then deleted (the reading provides the information whether the file is present).

If no additional (hidden) files are found, check if any non-hidden files were removed in the first removal phase and return the result of that.

Reimplemented from EthercatSlave.

◆ request_state_switch()

bool SoemSlave::request_state_switch ( State state )

overridevirtual

NOTE: This function is called only when using the IgH EtherCAT Master.

Reimplemented from EthercatSlave.

◆ send_pdos()

void SoemSlave::send_pdos ( const uint8_t * process_data )

overridevirtual

Note: Use the roundtrip() function within the SoemMaster class.

Reimplemented from EthercatSlave.

◆ set_file_content()

int32_t SoemSlave::set_file_content	(	const std::string &	file_name,
		const std::vector< uint8_t > &	content )

nodiscard

◆ set_state()

bool SoemSlave::set_state	(	State	state,
		uint32_t	timeout_ms = 10000 )

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.

◆ update_inputs()

void SoemSlave::update_inputs ( )

◆ update_outputs()

void SoemSlave::update_outputs ( )

◆ write_file()

MotionMasterError SoemSlave::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.

◆ write_sii()

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

overridevirtual

According to the EtherCAT specification (ETG.2000), the SII starts at EEPROM address 0x0000. However, this is not a strict requirement, and the actual starting address may differ based on the slave device's implementation.

Reimplemented from EthercatSlave.

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

apps/motion_master/soem_slave.h
apps/motion_master/soem_slave.cc

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ SoemSlave()

◆ ~SoemSlave()

Member Function Documentation

◆ do_remove_file()

◆ get_all_virtual_parameters()

◆ get_device_id()

◆ get_device_type()

◆ get_file_content()

◆ get_file_list()

◆ get_hardware_id()

◆ get_state()

◆ get_virtual_parameter()

◆ has_firmware()

◆ has_pdos()

◆ has_virtual_parameters()

◆ initialize()

◆ is_operational()

◆ is_supported()

◆ read_file()

◆ read_sii()

◆ receive_pdos()

◆ remove_file()

◆ request_state_switch()

◆ send_pdos()

◆ set_file_content()

◆ set_state()

◆ update_inputs()

◆ update_outputs()

◆ write_file()

◆ write_sii()