ethercat_interface::EcSlave Class Reference

#include <ec_slave.hpp>

Public Types
typedef std::map< unsigned int, std::vector< unsigned int > >	DomainMap

Public Member Functions
	EcSlave (uint32_t vendor_id, uint32_t product_id)
virtual	~EcSlave ()
virtual void	processData (size_t, uint8_t *)
virtual const ec_sync_info_t *	syncs ()
virtual bool	initialized ()
virtual void	set_state_is_operational (bool value)
virtual int	assign_activate_dc_sync ()
virtual size_t	syncSize ()
virtual const ec_pdo_entry_info_t *	channels ()
virtual void	domains (DomainMap &) const
virtual bool	setupSlave (std::unordered_map< std::string, std::string > slave_paramters, std::vector< double > *state_interface, std::vector< double > *command_interface)

Public Attributes
uint32_t	vendor_id_
uint32_t	product_id_
std::vector< SdoConfigEntry >	sdo_config

Protected Attributes
std::vector< double > *	state_interface_ptr_
std::vector< double > *	command_interface_ptr_
std::unordered_map< std::string, std::string >	paramters_
bool	is_operational_ = false

Member Typedef Documentation

DomainMap

typedef std::map<unsigned int, std::vector<unsigned int> > ethercat_interface::EcSlave::DomainMap

a map from domain index to pdo indices in that domain. map<domain index, vector<channels_ indices> >

Constructor & Destructor Documentation

EcSlave()

ethercat_interface::EcSlave::EcSlave ( uint32_t  vendor_id, uint32_t  product_id  )

inline

~EcSlave()

virtual ethercat_interface::EcSlave::~EcSlave ( )

inlinevirtual

Member Function Documentation

processData()

virtual void ethercat_interface::EcSlave::processData ( size_t  , uint8_t *    )

inlinevirtual

read or write data to the domain

syncs()

virtual const ec_sync_info_t* ethercat_interface::EcSlave::syncs ( )

inlinevirtual

a pointer to syncs. return &syncs[0]

initialized()

virtual bool ethercat_interface::EcSlave::initialized ( )

inlinevirtual

set_state_is_operational()

virtual void ethercat_interface::EcSlave::set_state_is_operational ( bool  value )

inlinevirtual

assign_activate_dc_sync()

virtual int ethercat_interface::EcSlave::assign_activate_dc_sync ( )

inlinevirtual

Assign activate DC synchronization. return activate word

syncSize()

virtual size_t ethercat_interface::EcSlave::syncSize ( )

inlinevirtual

number of elements in the syncs array.

channels()

virtual const ec_pdo_entry_info_t* ethercat_interface::EcSlave::channels ( )

inlinevirtual

a pointer to all PDO entries

domains()

virtual void ethercat_interface::EcSlave::domains ( DomainMap &  ) const

inlinevirtual

setupSlave()

virtual bool ethercat_interface::EcSlave::setupSlave ( std::unordered_map< std::string, std::string >  slave_paramters, std::vector< double > *  state_interface, std::vector< double > *  command_interface  )

inlinevirtual

Member Data Documentation

vendor_id_

uint32_t ethercat_interface::EcSlave::vendor_id_

product_id_

uint32_t ethercat_interface::EcSlave::product_id_

sdo_config

std::vector<SdoConfigEntry> ethercat_interface::EcSlave::sdo_config

state_interface_ptr_

std::vector<double>* ethercat_interface::EcSlave::state_interface_ptr_

protected

command_interface_ptr_

std::vector<double>* ethercat_interface::EcSlave::command_interface_ptr_

protected

paramters_

std::unordered_map<std::string, std::string> ethercat_interface::EcSlave::paramters_

protected

is_operational_

bool ethercat_interface::EcSlave::is_operational_ = false

protected

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

• /home/runner/work/ethercat_driver_ros2/ethercat_driver_ros2/ethercat_interface/include/ethercat_interface/ec_slave.hpp