EthercatMasterInterface Class Reference

The Ethercat Master interface. More...

#include <EthercatMasterInterface.hpp>

Inheritance diagram for EthercatMasterInterface:

[legend]

Public Member Functions
virtual bool	isThreadActive ()=0
virtual unsigned int	getNumberOfSlaves () const =0
	return the quantity of ethercat slave which have an input/output buffer
virtual void	AutomaticSendOn (const bool enableAutomaticSend)=0
virtual void	AutomaticReceiveOn (const bool enableAutomaticReceive)=0
virtual void	getEthercatDiagnosticInformation (std::vector< ec_slavet > &ethercatSlaveInfos)=0
	provides all ethercat slave informations from the SOEM driver
virtual bool	sendProcessData ()=0
	sends ethercat messages to the motor controllers returns a true if everything it OK and returns false if something fail
virtual bool	receiveProcessData ()=0
	receives ethercat messages from the motor controllers returns a true if everything it OK and returns false if something fail
virtual bool	isErrorInSoemDriver ()=0
	checks if an error has occurred in the soem driver returns a true if an error has occurred
virtual bool	isEtherCATConnectionEstablished ()=0
virtual void	registerJointLimitMonitor (JointLimitMonitor *object, const unsigned int JointNumber)=0
Protected Member Functions
	EthercatMasterInterface ()
virtual	~EthercatMasterInterface ()
Friends
class	EthercatMaster
class	YouBotJoint
class	YouBotGripper
class	YouBotGripperBar

---

Detailed Description

The Ethercat Master interface.

Definition at line 67 of file EthercatMasterInterface.hpp.

---

Constructor & Destructor Documentation

EthercatMasterInterface

(

)

[inline, protected]

Definition at line 73 of file EthercatMasterInterface.hpp.

virtual ~EthercatMasterInterface

(

)

[inline, protected, virtual]

Definition at line 75 of file EthercatMasterInterface.hpp.

---

Member Function Documentation

virtual void AutomaticReceiveOn

(

const bool

enableAutomaticReceive

)

[pure virtual]

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

virtual void AutomaticSendOn

(

const bool

enableAutomaticSend

)

[pure virtual]

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

virtual void getEthercatDiagnosticInformation

(

std::vector< ec_slavet > &

ethercatSlaveInfos

)

[pure virtual]

provides all ethercat slave informations from the SOEM driver

Parameters:

ethercatSlaveInfos

ethercat slave informations

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

virtual unsigned int getNumberOfSlaves

(

)

const [pure virtual]

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

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

virtual bool isErrorInSoemDriver

(

)

[pure virtual]

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

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

virtual bool isEtherCATConnectionEstablished

(

)

[pure virtual]

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

virtual bool isThreadActive

(

)

[pure virtual]

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

virtual bool receiveProcessData

(

)

[pure virtual]

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

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

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

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

virtual bool sendProcessData

(

)

[pure virtual]

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

Implemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Here is the caller graph for this function:

---

Friends And Related Function Documentation

friend class EthercatMaster [friend]

Reimplemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Definition at line 68 of file EthercatMasterInterface.hpp.

friend class YouBotGripper [friend]

Reimplemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Definition at line 70 of file EthercatMasterInterface.hpp.

friend class YouBotGripperBar [friend]

Reimplemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Definition at line 71 of file EthercatMasterInterface.hpp.

friend class YouBotJoint [friend]

Reimplemented in EthercatMasterWithoutThread, and EthercatMasterWithThread.

Definition at line 69 of file EthercatMasterInterface.hpp.

---

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

• EthercatMasterInterface.hpp