#include "util.h"
#include <sys/stat.h>
#include <bitset>
#include <cmath>
#include <csignal>
#include <fstream>
#include <iomanip>
#include <random>
#include <sstream>
#include "cia402_drive.h"
#include "dictionary_symbols.h"
#include "ethercat_master.h"
#include "ethercat_slave.h"
#include <zip/zip.h>
#include "ethercat.h"
#include "global.h"
#include "loguru.h"
#include "motion_master_error.h"
#include "notifier.h"
#include "virtual_device.h"

Include dependency graph for util.cc:

Macros
#define	__le16_to_cpup(x) (((uint16_t)(x)))

Functions
std::string	get_master_warning_message (MotionMasterWarning warning)
	Return the appropriate warning message. More...

std::string	get_slave_error_message (int32_t error_code)
	Return the appropriate error message. More...

void	send (zmq::socket_t &socket, const std::string &connection_id, const motionmaster::MotionMasterMessage &message)
	Send regular Google Protocol Buffers message over ZeroMQ. More...

std::string	etg1004_unit_string (uint32_t etg1004_unit_value)
	Convert ETG.1004 unit format to string. More...

int32_t	get_pdo_id (uint16_t index, uint8_t subindex, std::map< int32_t, int32_t > &pdo_position_map)
	Uses a special map and its keys to get the PDO array positions. More...

const std::string	current_date_time ()
	Get the current time and date as a custom string. More...

std::string	controllerTypeToString (ControllerType ct)

std::string	escapeDoubleQuotes (const std::string &input)

bool	abs_compare (float a, float b)
	Compare absolute values of the input parameters. More...

void	interruptable_wait (size_t seconds)
	Blocks for the set amount of time, but allows to be interrupted. More...

int	wrap_target_position (int target, int max_limit, int min_limit)

std::vector< double >	linspace (double lb, double ub, size_t n)
	Generate equally spaced points inside an interval. More...

ControllerGains	get_position_controller_gains (Cia402Drive &cia402_drive)
	Get the current position controller gains of a drive. More...

bool	set_position_controller_gains (Cia402Drive &cia402_drive, const ControllerGains &gains)
	Set the position controller gains. More...

bool	set_velocity_controller_gains (Cia402Drive &cia402_drive, const ControllerGains &gains)
	Set the velocity controller gains. More...

bool	check_gains (Cia402Drive &cia402_drive)
	Check if the required gains are properly set. More...

bool	string_ends_with (const std::string &value, const std::string &ending)
	Check if a string ends with another string. More...

std::vector< uint8_t >	read_file_content (const std::string &path)
	Read a file into a byte (uint8_t) vector. More...

void	set_csv_configuration (VirtualDevice *virtual_device, const std::vector< uint8_t > &csv_data)
	Set the configuration parameter values from CSV data. More...

uint8_t	calculate_crc (const std::vector< uint8_t > &data)

uint32_t	random_uint32 (uint32_t min, uint32_t max)
	Generate a random unsigned 32-bit integer in a certain range. More...

unsigned char	random_char ()
	Generate a random character. More...

std::string	generate_uuid (size_t length)
	Generate a UUID of a custom length. More...

int	limit_int32_target (int64_t target)
	Limit a target to integer 32 if necessary. More...

std::string	run_env_info ()
	Get all sorts of run environment information. More...

bool	validate_sii_data (const std::vector< uint8_t > &content, unsigned int device_id)

bool	file_exists (const std::string &path)
	Check if a file exists on the system where Motion Master is running. More...

std::string	string_bytes_to_hex_array_string (const std::string &bytes)
	Convert bytes (as string) to a string of hex values. More...

std::string	get_firmware_version_string (Cia402Drive &cia402_drive)
	Get the (string) version of the used firmware. More...

semver::version	get_firmware_version (Cia402Drive &cia402_drive)
	Get the (semver) version of the used firmware. More...

bool	get_plant_model_from_flash (Cia402Drive &cia402_drive, PlantModel *m)
	Get the plant model from the flash memory of the device. More...

AutoTuningDriveConfiguration	get_auto_tuning_drive_configuration (Cia402Drive &cia402_drive)
	Get the configuration required for full auto-tuning. More...

ControllerGains	convert_auto_tuning_controller_gains (ControllerGains gains, uint32_t singleturn_resolution)
	Convert gains to inc pos values and rpm velocity values. More...

CirculoType	get_circulo_type (int hardware_id)

bool	is_fw_based_on_v5 (Cia402Drive &cia402_drive)
	Check if the device requires the newer encoder configuration (FW >= v5 or FW >= v0.3.8-calibration), or the older encoder configuration (FW < v5 or FW < v0.3.8-calibration) More...

bool	is_fw_at_least (Cia402Drive &cia402_drive, const std::string &version)
	Check if the drive uses at least a certain FW version. More...

std::vector< uint8_t >	zip (const std::string &file_name, std::vector< uint8_t > data)
	Zip a single file. More...

std::vector< uint8_t >	unzip (const std::vector< uint8_t > &data)
	Unzip data containing a single file. More...

uint32_t	generate_od_entry_map_key (uint16_t index, uint8_t subindex)
	Generate a map key for an OD entry using index/subindex. More...

std::list< std::string >	get_file_parts (std::list< std::string > file_list, const std::string &file_name)
	Process the provided file list and find the file or its parts. More...

EncoderLocation	get_encoder_location (Cia402Drive &cia402_drive, uint8_t encoder_ordinal)
	Get the location of an encoder. More...

int	get_soem_slaves_responding ()

bool	compareStringsCaseInsensitive (const std::string &s1, const std::string &s2)

Macro Definition Documentation

◆ __le16_to_cpup

#define __le16_to_cpup ( x ) (*((uint16_t*)(x)))

Function Documentation

◆ abs_compare()

bool abs_compare	(	float	a,
		float	b
	)

Compare absolute values of the input parameters.

Parameters

a	first parameter
b	second parameter

Returns: a greater than b

◆ calculate_crc()

uint8_t calculate_crc ( const std::vector< uint8_t > & data )

Calculates the SII checksum field.

The checksum is generated with the polynomial x^8+x^2+x+1 (0x07) and an initial value of 0xff (see IEC 61158-6-12 ch. 5.4).

Parameters

data	vector of data

Returns: CRC8

◆ check_gains()

bool check_gains ( Cia402Drive & cia402_drive )

Check if the required gains are properly set.

Given the set position control strategy check if the gains have been properly set (and the crucial gains are set to non-zero values)

Parameters

cia402_drive

Returns: true if the gains are correct, false otherwise

◆ compareStringsCaseInsensitive()

bool compareStringsCaseInsensitive	(	const std::string &	s1,
		const std::string &	s2
	)

◆ controllerTypeToString()

std::string controllerTypeToString ( ControllerType ct )

◆ convert_auto_tuning_controller_gains()

ControllerGains convert_auto_tuning_controller_gains	(	ControllerGains	gains,
		uint32_t	singleturn_resolution
	)

Convert gains to inc pos values and rpm velocity values.

Parameters

gains	controller gains
singleturn_resolution	the resolution of the used encoder

Returns: converted gains

◆ current_date_time()

const std::string current_date_time ( )

Get the current time and date as a custom string.

Returns: a custom current date and time string

◆ escapeDoubleQuotes()

std::string escapeDoubleQuotes ( const std::string & input )

◆ etg1004_unit_string()

std::string etg1004_unit_string ( uint32_t etg1004_unit_value )

Convert ETG.1004 unit format to string.

Parameters

etg1004_unit_value 4 byte integer (prefix, numerator, denominator, reserved)

Returns: unit's string (e.g. mNm millinewton meter)

◆ file_exists()

bool file_exists ( const std::string & path )

Check if a file exists on the system where Motion Master is running.

Parameters

path	path to the file

Returns: true if exists, false otherwise

◆ generate_od_entry_map_key()

uint32_t generate_od_entry_map_key	(	uint16_t	index,
		uint8_t	subindex
	)

Generate a map key for an OD entry using index/subindex.

Parameters

index	OD entry index
subindex	OD entry subindex

Returns: a uint32 map key for an OD entry

◆ generate_uuid()

std::string generate_uuid ( size_t length )

Generate a UUID of a custom length.

Parameters

length length of the generated UUID

Returns: a UUID string

◆ get_auto_tuning_drive_configuration()

AutoTuningDriveConfiguration get_auto_tuning_drive_configuration ( Cia402Drive & cia402_drive )

Get the configuration required for full auto-tuning.

Fetch all of the parameters required by the full auto-tuning and return them as AutoTuningDriveConfiguration

Parameters

cia402_drive

Returns: AutoTuningDriveConfiguration

Exceptions

MotionMasterError

◆ get_circulo_type()

CirculoType get_circulo_type ( int hardware_id )

◆ get_encoder_location()

EncoderLocation get_encoder_location	(	Cia402Drive &	cia402_drive,
		uint8_t	encoder_ordinal
	)

Get the location of an encoder.

Parameters

cia402_drive	a reference to a drive
encoder_ordinal	encoder ordinal

Returns: the encoder location

Attention

If the selected encoder is the one used for torque control, then it must be on the motor shaft. This case also covers when this encoder is also being used for position/velocity control.

If the other encoder is selected, the one NOT used for torque control, then it can only be in one of the following locations depending on the presence of a gearbox:

no gearbox (gear ratio == 1) - on the motor shaft
there is a gearbox present - on the driving shaft

◆ get_file_parts()

std::list< std::string > get_file_parts	(	std::list< std::string >	file_list,
		const std::string &	file_name
	)

Process the provided file list and find the file or its parts.

Parameters

file_list	Obtained via do_get_file_list()
file_name	File name to be found (single file, or its parts)

Returns: a single file name, or its parts if present

◆ get_firmware_version()

semver::version get_firmware_version ( Cia402Drive & cia402_drive )

Get the (semver) version of the used firmware.

Parameters

cia402_drive

Returns: semver version object

Exceptions

an	exception if there are any errors

◆ get_firmware_version_string()

std::string get_firmware_version_string ( Cia402Drive & cia402_drive )

Get the (string) version of the used firmware.

Parameters

cia402_drive

Returns: version as a string

Exceptions

an	exception if there are any errors

◆ get_master_warning_message()

std::string get_master_warning_message ( MotionMasterWarning warning )

Return the appropriate warning message.

Parameters

warning MotionMasterWarning

Returns: warning message

◆ get_pdo_id()

int32_t get_pdo_id	(	uint16_t	index,
		uint8_t	subindex,
		std::map< int32_t, int32_t > &	pdo_position_map
	)

Uses a special map and its keys to get the PDO array positions.

Parameters

index	object index
subindex	object subindex

Returns: the position of the searched PDO in the array

◆ get_plant_model_from_flash()

bool get_plant_model_from_flash	(	Cia402Drive &	cia402_drive,
		PlantModel *	m
	)

Get the plant model from the flash memory of the device.

Parameters

cia402_drive	to get the plant model from
m	a pointer to the fetched model if any

Returns: true if exists, false otherwise

◆ get_position_controller_gains()

ControllerGains get_position_controller_gains ( Cia402Drive & cia402_drive )

Get the current position controller gains of a drive.

Parameters

cia402_drive

Returns: position controller gains

Exceptions

MotionMasterError(Error::kParameterNotFound);

◆ get_slave_error_message()

std::string get_slave_error_message ( int32_t error_code )

Return the appropriate error message.

Parameters

error_code

Returns: error message

◆ get_soem_slaves_responding()

int get_soem_slaves_responding ( )

◆ interruptable_wait()

void interruptable_wait ( size_t seconds )

Blocks for the set amount of time, but allows to be interrupted.

Parameters

seconds amount of time to block for

◆ is_fw_at_least()

bool is_fw_at_least	(	Cia402Drive &	cia402_drive,
		const std::string &	version
	)

Check if the drive uses at least a certain FW version.

Parameters

cia402_drive	drive
version	version as a string

Returns: true if the used FW version is equal or higher than the supplied one

◆ is_fw_based_on_v5()

bool is_fw_based_on_v5 ( Cia402Drive & cia402_drive )

Check if the device requires the newer encoder configuration (FW >= v5 or FW >= v0.3.8-calibration), or the older encoder configuration (FW < v5 or FW < v0.3.8-calibration)

Parameters

cia402_drive

Returns: true if the newer encoder configuration is required, false otherwise

◆ limit_int32_target()

int limit_int32_target ( int64_t target )

Limit a target to integer 32 if necessary.

Parameters

target

Returns: return limited target if necessary

◆ linspace()

std::vector< double > linspace	(	double	lb,
		double	ub,
		size_t	n
	)

Generate equally spaced points inside an interval.

Parameters

lb	lower boundary
ub	upper boundary
n	number of elements

Returns: a vector of equally spaced double numbers

◆ random_char()

unsigned char random_char ( )

Generate a random character.

Returns: a random character

◆ random_uint32()

uint32_t random_uint32	(	uint32_t	min = `0`,
		uint32_t	max = `UINT32_MAX`
	)

Generate a random unsigned 32-bit integer in a certain range.

Parameters

min	minimum value
max	maximum value

Returns: a random unsigned 32-bit integer

◆ read_file_content()

std::vector< uint8_t > read_file_content ( const std::string & path )

Read a file into a byte (uint8_t) vector.

Parameters

path file path

Returns: vector of bytes if successful, empty vector otherwise

◆ run_env_info()

std::string run_env_info ( )

Get all sorts of run environment information.

Returns: a string with run environment information

◆ send()

void send	(	zmq::socket_t &	socket,
		const std::string &	connection_id,
		const motionmaster::MotionMasterMessage &	message
	)

Send regular Google Protocol Buffers message over ZeroMQ.

Parameters

socket	ZeroMQ socket used for sending messages
connection_id	connection ID as a string
message	Google Protocol Buffers message to be sent

◆ set_csv_configuration()

void set_csv_configuration	(	VirtualDevice *	virtual_device,
		const std::vector< uint8_t > &	csv_data
	)

Set the configuration parameter values from CSV data.

Parameters

virtual_device	pointer to the device to set the configuration on
csv_data	CSV data

◆ set_position_controller_gains()

bool set_position_controller_gains	(	Cia402Drive &	cia402_drive,
		const ControllerGains &	gains
	)

Set the position controller gains.

Parameters

cia402_drive
gains

Returns: true if successful, false otherwise

◆ set_velocity_controller_gains()

bool set_velocity_controller_gains	(	Cia402Drive &	cia402_drive,
		const ControllerGains &	gains
	)

Set the velocity controller gains.

Parameters

cia402_drive
gains

Returns: true if successful, false otherwise

◆ string_bytes_to_hex_array_string()

std::string string_bytes_to_hex_array_string ( const std::string & bytes )

Convert bytes (as string) to a string of hex values.

Parameters

bytes bytes as a string

Returns: string of hex bytes

◆ string_ends_with()

bool string_ends_with	(	const std::string &	value,
		const std::string &	ending
	)

Check if a string ends with another string.

Parameters

value	string to check in
ending	string to check for

Returns: true if found, false otherwise

◆ unzip()

std::vector< uint8_t > unzip ( const std::vector< uint8_t > & data )

Unzip data containing a single file.

Parameters

data

Returns: unzipped data

Exceptions

std::runtime_error

◆ validate_sii_data()

bool validate_sii_data	(	const std::vector< uint8_t > &	content,
		unsigned int	device_id
	)

◆ wrap_target_position()

int wrap_target_position	(	int	target,
		int	max_limit,
		int	min_limit
	)

◆ zip()

std::vector< uint8_t > zip	(	const std::string &	file_name,
		std::vector< uint8_t >	data
	)

Zip a single file.

Parameters

file_name
data

Returns: zipped data

Macros

Functions

Macro Definition Documentation

◆ __le16_to_cpup

Function Documentation

◆ abs_compare()

◆ calculate_crc()

◆ check_gains()

◆ compareStringsCaseInsensitive()

◆ controllerTypeToString()

◆ convert_auto_tuning_controller_gains()

◆ current_date_time()

◆ escapeDoubleQuotes()

◆ etg1004_unit_string()

◆ file_exists()

◆ generate_od_entry_map_key()

◆ generate_uuid()

◆ get_auto_tuning_drive_configuration()

◆ get_circulo_type()

◆ get_encoder_location()

◆ get_file_parts()

◆ get_firmware_version()

◆ get_firmware_version_string()

◆ get_master_warning_message()

◆ get_pdo_id()

◆ get_plant_model_from_flash()

◆ get_position_controller_gains()

◆ get_slave_error_message()

◆ get_soem_slaves_responding()

◆ interruptable_wait()

◆ is_fw_at_least()

◆ is_fw_based_on_v5()

◆ limit_int32_target()

◆ linspace()

◆ random_char()

◆ random_uint32()

◆ read_file_content()

◆ run_env_info()

◆ send()

◆ set_csv_configuration()

◆ set_position_controller_gains()

◆ set_velocity_controller_gains()

◆ string_bytes_to_hex_array_string()

◆ string_ends_with()

◆ unzip()

◆ validate_sii_data()

◆ wrap_target_position()

◆ zip()