EthercatMasterWithThread Class Reference

The Ethercat Master is managing the whole ethercat communication It have to be a singleton in the system. More...

#include <EthercatMasterWithThread.hpp>

Inheritance diagram for EthercatMasterWithThread:

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Public Member Functions
bool	isThreadActive ()
unsigned int	getNumberOfSlaves () const
	return the quantity of ethercat slave which have an input/output buffer
void	AutomaticSendOn (const bool enableAutomaticSend)
void	AutomaticReceiveOn (const bool enableAutomaticReceive)
void	getEthercatDiagnosticInformation (std::vector< ec_slavet > &ethercatSlaveInfos)
	provides all ethercat slave informations from the SOEM driver
bool	sendProcessData ()
	sends ethercat messages to the motor controllers returns a true if everything it OK and returns false if something fail
bool	receiveProcessData ()
	receives ethercat messages from the motor controllers returns a true if everything it OK and returns false if something fail
bool	isErrorInSoemDriver ()
	checks if an error has occurred in the soem driver returns a true if an error has occurred
void	registerJointTrajectoryController (JointTrajectoryController *object, const unsigned int JointNumber)
void	deleteJointTrajectoryControllerRegistration (const unsigned int JointNumber)
unsigned int	getNumberOfThreadCyclesPerSecond ()
bool	isEtherCATConnectionEstablished ()
void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)
void	registerDataTrace (void *object, const unsigned int JointNumber)
void	deleteDataTraceRegistration (const unsigned int JointNumber)
Friends
class	EthercatMaster
class	YouBotJoint
class	YouBotGripper
class	YouBotGripperBar

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Detailed Description

The Ethercat Master is managing the whole ethercat communication It have to be a singleton in the system.

Definition at line 86 of file EthercatMasterWithThread.hpp.

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Member Function Documentation

void AutomaticReceiveOn

(

const bool

enableAutomaticReceive

)

[virtual]

Implements EthercatMasterInterface.

Definition at line 148 of file EthercatMasterWithThread.cpp.

void AutomaticSendOn

(

const bool

enableAutomaticSend

)

[virtual]

Implements EthercatMasterInterface.

Definition at line 126 of file EthercatMasterWithThread.cpp.

void deleteDataTraceRegistration

(

const unsigned int

JointNumber

)

Definition at line 278 of file EthercatMasterWithThread.cpp.

void deleteJointTrajectoryControllerRegistration

(

const unsigned int

JointNumber

)

Definition at line 222 of file EthercatMasterWithThread.cpp.

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void getEthercatDiagnosticInformation

(

std::vector< ec_slavet > &

ethercatSlaveInfos

)

[virtual]

provides all ethercat slave informations from the SOEM driver

Parameters:

ethercatSlaveInfos

ethercat slave informations

Implements EthercatMasterInterface.

Definition at line 169 of file EthercatMasterWithThread.cpp.

unsigned int getNumberOfSlaves

(

)

const [virtual]

return the quantity of ethercat slave which have an input/output buffer

Implements EthercatMasterInterface.

Definition at line 120 of file EthercatMasterWithThread.cpp.

unsigned int getNumberOfThreadCyclesPerSecond

(

)

Definition at line 235 of file EthercatMasterWithThread.cpp.

bool isErrorInSoemDriver

(

)

[virtual]

checks if an error has occurred in the soem driver returns a true if an error has occurred

Implements EthercatMasterInterface.

Definition at line 199 of file EthercatMasterWithThread.cpp.

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bool isEtherCATConnectionEstablished

(

)

[virtual]

Implements EthercatMasterInterface.

Definition at line 242 of file EthercatMasterWithThread.cpp.

bool isThreadActive

(

)

[virtual]

Implements EthercatMasterInterface.

Definition at line 113 of file EthercatMasterWithThread.cpp.

bool receiveProcessData

(

)

[virtual]

receives ethercat messages from the motor controllers returns a true if everything it OK and returns false if something fail

Implements EthercatMasterInterface.

Definition at line 190 of file EthercatMasterWithThread.cpp.

void registerDataTrace	(	void *	object,
		const unsigned int	JointNumber
	)

Definition at line 263 of file EthercatMasterWithThread.cpp.

void registerJointLimitMonitor	(	JointLimitMonitor *	object,
		const unsigned int	JointNumber
	)			[virtual]

Implements EthercatMasterInterface.

Definition at line 248 of file EthercatMasterWithThread.cpp.

void registerJointTrajectoryController	(	JointTrajectoryController *	object,
		const unsigned int	JointNumber
	)

Definition at line 207 of file EthercatMasterWithThread.cpp.

bool sendProcessData

(

)

[virtual]

sends ethercat messages to the motor controllers returns a true if everything it OK and returns false if something fail

Implements EthercatMasterInterface.

Definition at line 181 of file EthercatMasterWithThread.cpp.

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Friends And Related Function Documentation

friend class EthercatMaster [friend]

Reimplemented from EthercatMasterInterface.

Definition at line 87 of file EthercatMasterWithThread.hpp.

friend class YouBotGripper [friend]

Reimplemented from EthercatMasterInterface.

Definition at line 89 of file EthercatMasterWithThread.hpp.

friend class YouBotGripperBar [friend]

Reimplemented from EthercatMasterInterface.

Definition at line 90 of file EthercatMasterWithThread.hpp.

friend class YouBotJoint [friend]

Reimplemented from EthercatMasterInterface.

Definition at line 88 of file EthercatMasterWithThread.hpp.

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

• EthercatMasterWithThread.hpp
• EthercatMasterWithThread.cpp