WatchdogMachine Class Reference

#include <watchdog_machine.h>

Inheritance diagram for WatchdogMachine:

Collaboration diagram for WatchdogMachine:

Public Member Functions
	WatchdogMachine (VirtualDeviceManager &vdm, ctpl::thread_pool &thread_pool, Notifier &notifier, mm::core::containers::ThreadSafeQueue< OutgoingMachineMessage > &outgoing_machine_message_queue)
void	execute (uint64_t pending_signals) override
	Execute the machine.
void	start ()
void	stop ()
void	abort_client_requests (const std::string &connection_id) override
	Abort all of the requests a certain client has issues.
bool	done () override
	Check if all of the machine started processes are done (including the Command Workers)
Public Member Functions inherited from Machine
void	add_message (IncomingMachineMessage &incoming_machine_message)
	Add a new incoming machine message to the queue.
bool	command_workers_done ()
	Check if all started Command Workers are done.

Additional Inherited Members
Protected Member Functions inherited from Machine
	Machine (VirtualDeviceManager &vdm, ctpl::thread_pool &thread_pool, Notifier &notifier, mm::core::containers::ThreadSafeQueue< OutgoingMachineMessage > &outgoing_machine_message_queue)
virtual	~Machine ()
void	start_command_worker (IncomingMachineMessage &incoming_machine_message)
void	process_command_workers (std::function< void(CommandWorker *)> process=nullptr)
	Process all of the available Command Workers.
void	send_response (MachineMessage::Protocol protocol, std::string connection_id, motionmaster::MotionMasterMessage &message)
	Send the response (Status protobuf message) to the proper client.
Protected Attributes inherited from Machine
VirtualDeviceManager &	vdm_
ctpl::thread_pool &	thread_pool_
std::queue< IncomingMachineMessage >	incoming_message_queue_
Notifier &	notifier_

Constructor & Destructor Documentation

WatchdogMachine()

WatchdogMachine::WatchdogMachine	(	VirtualDeviceManager &	vdm,
		ctpl::thread_pool &	thread_pool,
		Notifier &	notifier,
		mm::core::containers::ThreadSafeQueue< OutgoingMachineMessage > &	outgoing_machine_message_queue )

The watchdog on the Motion Master is a process that runs on each cycle, ideally every 1ms. If the previous execution took longer than one second, it checks which drives are not in the OP state. For any devices not in OP, it sends an error message indicating that they cannot be switched into the OP EtherCAT state. A communication warning usually precedes this error, indicating that the Motion Master has detected that the device has entered the SAFE-OP state. The warning is sent only if the drive has been previously initialized (i.e., it has parameters) and was already in the OP state.

NOTE: The condition "if (++counter_ == 7 + vdm_.get_devices().size())" is not entirely clear and may require further verification.

Member Function Documentation

abort_client_requests()

void WatchdogMachine::abort_client_requests ( const std::string & connection_id )

overridevirtual

Abort all of the requests a certain client has issues.

Parameters

connection_id

client connection ID

Implements Machine.

done()

bool WatchdogMachine::done ( )

overridevirtual

Check if all of the machine started processes are done (including the Command Workers)

Returns

true if all of the processes are done, false otherwise

Implements Machine.

execute()

void WatchdogMachine::execute ( uint64_t pending_signals )

overridevirtual

Execute the machine.

Parameters

pending_signals

number of time intervals that passed since the last call to this function

Implements Machine.

start()

void WatchdogMachine::start

(

)

stop()

void WatchdogMachine::stop

(

)

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

• apps/motion_master/watchdog_machine.h
• apps/motion_master/watchdog_machine.cc