#include <soem_slave.h>

Inheritance diagram for SoemSlave:

Collaboration diagram for SoemSlave:

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. More...

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

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

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

bool	is_supported ()

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

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

bool	set_state (State state, uint32_t timeout_ms=5000) override
	Change the EtherCAT state of the slave. More...

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)

bool	write_file_as_parts (const std::string &file_name, const std::vector< uint8_t > &content, std::function< void(uint8_t)> progress_callback)

MotionMasterError	do_remove_file (const std::string &file_name)

Public Member Functions inherited from EthercatSlave
	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...

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 ( )

overridevirtual

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

overridevirtual

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

overridevirtual

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 )

◆ get_file_list()

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

overridevirtual

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

overridevirtual

Get the hardware ID.

Returns: the hardware ID

Reimplemented from EthercatSlave.

◆ get_state()

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

overridevirtual

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
	)

overridevirtual

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 ( )

overridevirtual

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 SoemSlave::is_operational ( ) const

overridevirtual

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 )

overridevirtual

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

Parameters

file_name

Returns: MotionMasterError or file content

Reimplemented from EthercatSlave.

◆ 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
	)

◆ set_state()

bool SoemSlave::set_state	(	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.

◆ 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_file_as_parts()

bool SoemSlave::write_file_as_parts	(	const std::string &	file_name,
		const std::vector< uint8_t > &	content,
		std::function< void(uint8_t)>	progress_callback
	)

◆ 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()

◆ is_operational()

◆ is_supported()

◆ read_file()

◆ receive_pdos()

◆ remove_file()

◆ request_state_switch()

◆ send_pdos()

◆ set_file_content()

◆ set_state()

◆ update_inputs()

◆ update_outputs()

◆ write_file()

◆ write_file_as_parts()

◆ write_sii()