This class define an EtherCAT unit device. More...

#include <slave_device.h>

Inheritance diagram for ethercatcpp::SlaveDevice:

Public Types
enum	syncmanager_buffer_t { ASYNCHROS_OUT, ASYNCHROS_IN, SYNCHROS_OUT, SYNCHROS_IN = 4 }
	This enum define all type of buffers (SyncManager type) More...

Public Member Functions
	SlaveDevice ()
	Constructor of SlaveDevice class. More...

virtual	~SlaveDevice ()

void	set_serial_number (uint32_t serial_number)
	Set the serial number of the device. More...

uint32_t	eep_manufacturer () const
	Get EtherCAT device manufacturer id. More...

uint32_t	eep_device () const
	Get EtherCAT device id. More...

uint32_t	serial_number () const
	Get device serial number. More...

Public Member Functions inherited from ethercatcpp::Device
	Device ()

virtual	~Device ()

Protected Member Functions
template<typename T , typename... U>
void	define_physical_buffer (syncmanager_buffer_t type, uint16_t start_addr, uint32_t flags)
	Define a physical buffer (EtherCAT syncManager buffer). More...

void	define_physical_buffer (syncmanager_buffer_t type, uint16_t start_addr, uint32_t flags, uint16_t length)
	Define a physical buffer (EtherCAT syncManager buffer). More...

template<typename T >
T *	input_buffer (uint16_t start_addr)
	Get data of input physical buffer. More...

template<typename T , typename U , typename... Other>
std::tuple< T , U , Other *... >	input_buffer (uint16_t start_addr)

uint8_t *	input_buffer (uint16_t start_addr)
	Get data of input physical buffer. More...

template<typename T >
T *	output_buffer (uint16_t start_addr)
	Get data of output physical buffer. More...

template<typename T , typename U , typename... Other>
std::tuple< T , U , Other *... >	output_buffer (uint16_t start_addr)

uint8_t *	output_buffer (uint16_t start_addr)
	Get data of output physical buffer. More...

void	add_run_step (std::function< void()> &&pre, std::function< void()> &&post)
	Add a run step and define pre_function and post_function run step. More...

void	add_init_step (std::function< void()> &&pre, std::function< void()> &&post)
	Add a init step and define pre_function and post_function for this init step. More...

void	add_end_step (std::function< void()> &&pre, std::function< void()> &&post)
	Add a end step and define pre_function and post_function for this end step. More...

void	set_id (const std::string &name, uint32_t manufacturer, uint32_t model)
	Set a specific ID to the slave. More...

void	define_distributed_clock (bool have_dc)
	Define if the slave have a distributed clock. More...

void	define_period_for_non_cyclic_steps (int period)
	Define the period between two non cyclic steps. More...

void	configure_at_init (std::function< void()> &&func)
	Define the function that configures the slave in PREOP state at initialization of the ethercat bus (Master::init()) . More...

void	configure_at_end (std::function< void()> &&func)
	Define the function that performs configuration actions in PREOP state at termination of the ethercat bus. (Master::end()). More...

int	write_sdo (uint16_t index, uint8_t sub_index, int buffer_size, void *buffer) const
	write a SDO capable object field More...

int	read_sdo (uint16_t index, uint8_t sub_index, int buffer_size, void *buffer) const
	read a SDO capable object field More...

template<typename T >
int	write_sdo (uint16_t index, uint8_t sub_index, T &value) const
	Send a CoE write SDO packet to the slave. More...

template<typename T >
int	read_sdo (uint16_t index, uint8_t sub_index, T &value) const
	Send a CoE read SDO packet to the slave. More...

template<typename T >
bool	start_command_pdo_mapping ()
	Start the definition of the command PDO mapping. More...

template<typename T >
bool	add_command_pdo_mapping (uint16_t pdo_address)
	Add a new command PDO map link. More...

template<typename T >
bool	end_command_pdo_mapping ()
	Finish the definition of the command PDO mapping. More...

template<typename T >
bool	start_status_pdo_mapping ()
	Start definition of the status PDO mapping. More...

template<typename T >
bool	add_status_pdo_mapping (uint16_t pdo_address)
	Add a new STATUS PDO map link. More...

template<typename T >
bool	end_status_pdo_mapping ()
	Finish definition of the status PDO mapping. More...

void	configure_dc_sync0 (uint32_t cycle_time_0, int32_t cycle_shift) const
	Define DC synchro signal 0. More...

void	configure_dc_sync0_1 (uint32_t cycle_time_0, uint32_t cycle_time_1, int32_t cycle_shift) const
	Define DC synchro signals 0 and 1. More...

int32_t	read_file (std::string_view filename, uint32_t password, int32_t size, uint8_t *buffer) const

bool	write_file (std::string_view filename, uint32_t password, int32_t size, uint8_t *buffer) const

bool	read_sercos (uint8_t drive, uint8_t flags, uint16_t idn, int32_t size, uint8_t *buffer) const

bool	write_sercos (uint8_t drive, uint8_t flags, uint16_t idn, int32_t size, uint8_t *buffer) const

Private Member Functions
void	print_slave_info () const
	Print all slave informations. More...

uint8_t	run_steps () const
	Get the number of run steps for the device. More...

void	pre_run_step (uint8_t step)
	Launch the pre_function for one specific run step. More...

void	post_run_step (uint8_t step)
	Launch the post_function for one specific run step. More...

uint8_t	init_steps () const
	Get the number of init steps for the device. More...

void	pre_init_step (uint8_t step)
	Launch the pre_function for one specific init step. More...

void	post_init_step (uint8_t step)
	Launch the post_function for one specific init step. More...

uint8_t	end_steps () const

void	pre_end_step (uint8_t step)
	Launch the pre_function for one specific end step. More...

void	post_end_step (uint8_t step)
	Launch the post_function for one specific end step. More...

void	update_buffers ()
	Update In/Out buffers address. More...

void	launch_init_configuration ()
	Call the init configuration function. More...

void	launch_end_configuration ()
	Call the end configuration function. More...

void	set_command_mappings (uint8_t mappings)

uint8_t	get_command_mappings () const

void	set_status_mappings (uint8_t mappings)

uint8_t	get_status_mappings () const

std::vector< Device * >	device_vector () final
	Get the vector of sub-devices contained by the device. More...

SlaveInfo *	slave_address () final
	Get the device corresponding physical slave address. More...

template<typename T >
std::tuple< T * >	input_buffer_tuple (uint16_t start_addr, size_t ptr_increment)

template<typename T , typename U , typename... Other>
std::tuple< T , U , Other *... >	input_buffer_tuple (uint16_t start_addr, size_t ptr_increment)

template<typename T >
std::tuple< T * >	output_buffer_tuple (uint16_t start_addr, size_t ptr_increment)

template<typename T , typename U , typename... Other>
std::tuple< T , U , Other *... >	output_buffer_tuple (uint16_t start_addr, size_t ptr_increment)

Private Attributes
std::unique_ptr< Impl >	impl_

Friends
class	coe::PDOMapping

class	coe::PDOBuffer

class	Master

class	SlaveInfo

Detailed Description

This class define an EtherCAT unit device.

A unit device is an EtherCAT device who contain slave informations (it is composed by a dedicated slave object). It define all steps function (run, init and end), define EtherCAT I/O buffers and all EtherCAT slave configurations.

Member Enumeration Documentation

◆ syncmanager_buffer_t

enum ethercatcpp::SlaveDevice::syncmanager_buffer_t

This enum define all type of buffers (SyncManager type)

Enumerator
ASYNCHROS_OUT	define an asynchro mailbox out (from master to slave)
ASYNCHROS_IN	define an asynchro mailbox in (from slave to master)
SYNCHROS_OUT	define a synchro buffer out (from master to slave)
SYNCHROS_IN	define a synchro buffer in (from slave to master)

Constructor & Destructor Documentation

◆ SlaveDevice()

ethercatcpp::SlaveDevice::SlaveDevice ( )

Constructor of SlaveDevice class.

◆ ~SlaveDevice()

virtual ethercatcpp::SlaveDevice::~SlaveDevice ( )

virtual

Member Function Documentation

◆ add_command_pdo_mapping()

template<typename T >

bool ethercatcpp::SlaveDevice::add_command_pdo_mapping ( uint16_t pdo_address )

inlineprotected

Add a new command PDO map link.

Parameters

[in] pdo_address is the map address who want to add to the PDO.

Template Parameters

T	represent the type of data register (generally uint8 or uint16).

Returns: false if communication failed, true if success.

◆ add_end_step()

void ethercatcpp::SlaveDevice::add_end_step	(	std::function< void()> &&	pre,
		std::function< void()> &&	post
	)

protected

Add a end step and define pre_function and post_function for this end step.

Parameters

[in]	pre	is the function witch is execute before a end step (generally set commands).
[in]	post	is the function witch is execute after a end step (generally get status and datas).

◆ add_init_step()

void ethercatcpp::SlaveDevice::add_init_step	(	std::function< void()> &&	pre,
		std::function< void()> &&	post
	)

protected

Add a init step and define pre_function and post_function for this init step.

Parameters

[in]	pre	is the function witch is execute before a init step (generally set commands).
[in]	post	is the function witch is execute after a init step (generally get status and datas).

◆ add_run_step()

void ethercatcpp::SlaveDevice::add_run_step	(	std::function< void()> &&	pre,
		std::function< void()> &&	post
	)

protected

Add a run step and define pre_function and post_function run step.

Parameters

[in]	pre	is the function witch is execute before a run step (generally set commands).
[in]	post	is the function witch is execute after a run step (generally get status and datas).

◆ add_status_pdo_mapping()

template<typename T >

bool ethercatcpp::SlaveDevice::add_status_pdo_mapping ( uint16_t pdo_address )

inlineprotected

Add a new STATUS PDO map link.

Parameters

[in] pdo_address is the map address who want to add to the PDO.

Template Parameters

T	represent the type of "date register" (generally uint8 or uint16).

Returns: false if communication failed, true if success.

◆ configure_at_end()

void ethercatcpp::SlaveDevice::configure_at_end ( std::function< void()> && func )

protected

Define the function that performs configuration actions in PREOP state at termination of the ethercat bus. (Master::end()).

This is typically used to configure CanOpen over EtherCAT devices, by calling write_sdo/read_sdo.

Parameters

[in] func is the function witch is executed at bus termination time.

See also: Master::end()

◆ configure_at_init()

void ethercatcpp::SlaveDevice::configure_at_init ( std::function< void()> && func )

protected

Define the function that configures the slave in PREOP state at initialization of the ethercat bus (Master::init()) .

This is typically used to configure CanOpen over EtherCAT devices, by calling write_sdo/read_sdo, and functions to define PDO mappings and PDO buffers configuration. It can also be used for any operations using FoE.

Parameters

[in] func is the function witch is executed witch is executed at bus initialization time.

See also: Master::init()

◆ configure_dc_sync0()

void ethercatcpp::SlaveDevice::configure_dc_sync0	(	uint32_t	cycle_time_0,
		int32_t	cycle_shift
	)		const

protected

Define DC synchro signal 0.

This function active DC sync 0 mode and set timers for a slave.

Parameters

[in]	cycle_time_0	is Cycltime SYNC0 in ns.
[in]	cycle_shift	is CyclShift in ns.

◆ configure_dc_sync0_1()

void ethercatcpp::SlaveDevice::configure_dc_sync0_1	(	uint32_t	cycle_time_0,
		uint32_t	cycle_time_1,
		int32_t	cycle_shift
	)		const

protected

Define DC synchro signals 0 and 1.

This function active DC sync 0 and 1 mode and set timers for a slave.

Parameters

[in]	cycle_time_0	is Cycltime SYNC0 in ns.
[in]	cycle_time_1	is Cycltime SYNC1 in ns. This time is a delta time in relation to the SYNC0 fire. If CylcTime1 = 0 then SYNC1 fires a the same time as SYNC0.
[in]	cycle_shift	is CyclShift in ns.

◆ define_distributed_clock()

void ethercatcpp::SlaveDevice::define_distributed_clock ( bool have_dc )

protected

Define if the slave have a distributed clock.

Parameters

[in] have_dc state for distributed clock (TRUE if have DC).

◆ define_period_for_non_cyclic_steps()

void ethercatcpp::SlaveDevice::define_period_for_non_cyclic_steps ( int period )

protected

Define the period between two non cyclic steps.

Parameters

[in] period time desired to wait in us.

◆ define_physical_buffer() [1/2]

template<typename T , typename... U>

void ethercatcpp::SlaveDevice::define_physical_buffer	(	syncmanager_buffer_t	type,
		uint16_t	start_addr,
		uint32_t	flags
	)

inlineprotected

Define a physical buffer (EtherCAT syncManager buffer).

This function define a physical buffer and updates size of total I/O buffer

Template Parameters

T	is the first or unique data type defining buffer content.
U	are the other data types defining buffer content sequentially happend to T.

Parameters

[in]	type	is the type of buffer selected in syncmanager_buffer_t.
[in]	start_addr	is the buffer physical start address.
[in]	flags	is the specific flag for this buffer.

◆ define_physical_buffer() [2/2]

void ethercatcpp::SlaveDevice::define_physical_buffer	(	syncmanager_buffer_t	type,
		uint16_t	start_addr,
		uint32_t	flags,
		uint16_t	length
	)

protected

Define a physical buffer (EtherCAT syncManager buffer).

This function defines a physical buffer and update size of total I/O buffer

Parameters

[in]	type	is the type of buffer selected in syncmanager_buffer_t.
[in]	start_addr	is the buffer physical start address.
[in]	flags	is the specific flag for this buffer.
[in]	length	is the size of the buffer in bytes.

◆ device_vector()

std::vector<Device*> ethercatcpp::SlaveDevice::device_vector ( )

finalprivatevirtual

Get the vector of sub-devices contained by the device.

Returns: a vector of Device pointer. This vector contain only this device address (unit device)

Implements ethercatcpp::Device.

◆ eep_device()

uint32_t ethercatcpp::SlaveDevice::eep_device ( ) const

Get EtherCAT device id.

Returns: the device id.

◆ eep_manufacturer()

uint32_t ethercatcpp::SlaveDevice::eep_manufacturer ( ) const

Get EtherCAT device manufacturer id.

Returns: EtherCAT device manufacturer id.

◆ end_command_pdo_mapping()

template<typename T >

bool ethercatcpp::SlaveDevice::end_command_pdo_mapping ( )

inlineprotected

Finish the definition of the command PDO mapping.

Template Parameters

T	represent the type of date register (generally uint8 or uint16).

Returns: false if communication failed, true if success.

◆ end_status_pdo_mapping()

template<typename T >

bool ethercatcpp::SlaveDevice::end_status_pdo_mapping ( )

inlineprotected

Finish definition of the status PDO mapping.

Template Parameters

T	represent the type of date register (generally uint8 or uint16).

Returns: false if communication failed, true if success.

◆ end_steps()

uint8_t ethercatcpp::SlaveDevice::end_steps ( ) const

private

◆ get_command_mappings()

uint8_t ethercatcpp::SlaveDevice::get_command_mappings ( ) const

private

◆ get_status_mappings()

uint8_t ethercatcpp::SlaveDevice::get_status_mappings ( ) const

private

◆ init_steps()

uint8_t ethercatcpp::SlaveDevice::init_steps ( ) const

private

Get the number of init steps for the device.

Returns: number of init steps

◆ input_buffer() [1/3]

template<typename T >

T* ethercatcpp::SlaveDevice::input_buffer ( uint16_t start_addr )

inlineprotected

Get data of input physical buffer.

This function get the raw datas of the input physical buffer and cast them in the data structure type indicate with "template param" to more easyest used.

Template Parameters

T	is the data structure type of the buffer.

Parameters

[in] start_addr is the input buffer physical start address.

Returns: pointer to buffer data with "template param" structure type.

◆ input_buffer() [2/3]

template<typename T , typename U , typename... Other>

std::tuple<T*, U*, Other*...> ethercatcpp::SlaveDevice::input_buffer ( uint16_t start_addr )

inlineprotected

◆ input_buffer() [3/3]

uint8_t* ethercatcpp::SlaveDevice::input_buffer ( uint16_t start_addr )

protected

Get data of input physical buffer.

Parameters

[in] start_addr is the input buffer physical start address.

Returns: pointer to buffer data.

◆ input_buffer_tuple() [1/2]

template<typename T >

std::tuple<T*> ethercatcpp::SlaveDevice::input_buffer_tuple	(	uint16_t	start_addr,
		size_t	ptr_increment
	)

inlineprivate

◆ input_buffer_tuple() [2/2]

template<typename T , typename U , typename... Other>

std::tuple<T, U, Other*...> ethercatcpp::SlaveDevice::input_buffer_tuple	(	uint16_t	start_addr,
		size_t	ptr_increment
	)

inlineprivate

◆ launch_end_configuration()

void ethercatcpp::SlaveDevice::launch_end_configuration ( )

private

Call the end configuration function.

◆ launch_init_configuration()

void ethercatcpp::SlaveDevice::launch_init_configuration ( )

private

Call the init configuration function.

◆ output_buffer() [1/3]

template<typename T >

T* ethercatcpp::SlaveDevice::output_buffer ( uint16_t start_addr )

inlineprotected

Get data of output physical buffer.

This function get the raw datas of the output physical buffer and cast them in the data structure type indicate with "template param" to more easyest used.

Template Parameters

T	is the data structure type of the buffer.

Parameters

[in] start_addr is the output buffer physical start address.

Returns: pointer to buffer data with "template param" structure type.

◆ output_buffer() [2/3]

template<typename T , typename U , typename... Other>

std::tuple<T*, U*, Other*...> ethercatcpp::SlaveDevice::output_buffer ( uint16_t start_addr )

inlineprotected

◆ output_buffer() [3/3]

uint8_t* ethercatcpp::SlaveDevice::output_buffer ( uint16_t start_addr )

protected

Get data of output physical buffer.

Parameters

[in] start_addr is the output buffer physical start address.

Returns: pointer to buffer data.

◆ output_buffer_tuple() [1/2]

template<typename T >

std::tuple<T*> ethercatcpp::SlaveDevice::output_buffer_tuple	(	uint16_t	start_addr,
		size_t	ptr_increment
	)

inlineprivate

◆ output_buffer_tuple() [2/2]

template<typename T , typename U , typename... Other>

std::tuple<T, U, Other*...> ethercatcpp::SlaveDevice::output_buffer_tuple	(	uint16_t	start_addr,
		size_t	ptr_increment
	)

inlineprivate

◆ post_end_step()

void ethercatcpp::SlaveDevice::post_end_step ( uint8_t step )

private

Launch the post_function for one specific end step.

Parameters