example_EL1018_2008.cpp

/*      File: example_EL1018_2008.cpp
 *       This file is part of the program ethercatcpp-core
 *       Program description : EtherCAT driver libraries for UNIX
 *       Copyright (C) 2017-2024 -  Robin Passama (LIRMM / CNRS) Arnaud Meline
 * (LIRMM / CNRS) Benjamin Navarro (LIRMM / CNRS). All Right reserved.
 *
 *       This software is free software: you can redistribute it and/or modify
 *       it under the terms of the CeCILL-C license as published by
 *       the CEA CNRS INRIA, either version 1
 *       of the License, or (at your option) any later version.
 *       This software is distributed in the hope that it will be useful,
 *       but WITHOUT ANY WARRANTY without even the implied warranty of
 *       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *       CeCILL-C License for more details.
 *
 *       You should have received a copy of the CeCILL-C License
 *       along with this software. If not, it can be found on the official
 * website of the CeCILL licenses family (http://www.cecill.info/index.en.html).
 */
#include <ethercatcpp/core.h>
 
#include <pid/signal_manager.h>
#include <pid/log.h>
#include <pid/real_time.h>
#include <pid/synchro.h>
 
#include <CLI11/CLI11.hpp>
 
#include <chrono>
 
int main(int argc, char* argv[]) {
    CLI::App app{"EL1018 driver example"};
 
    std::string network_interface;
    app.add_option("-i,--interface", network_interface, "Network interface")
        ->required();
 
    double control_period{0.001};
    app.add_option("-p,--period", control_period, "Control period (seconds)");
 
    CLI11_PARSE(app, argc, argv);
 
    auto memory_locker = pid::make_current_thread_real_time();
 
    // Master creation
    ethercatcpp::Master master;
 
    // Adding network interface
    master.set_primary_interface(network_interface);
 
    // Device definition
    ethercatcpp::EK1100 EK1100;
    ethercatcpp::EL1018 EL1018;
    ethercatcpp::EL2008 EL2008;
    ethercatcpp::EK1110 EK1110;
 
    // Linking device to bus in hardware order !!
    master.add(EK1100);
    master.add(EL1018);
    master.add(EL2008);
    master.add(EK1110);
 
    // Initilize the network
    master.init();
 
    bool stop = false;
    pid::SignalManager::add(pid::SignalManager::Interrupt, "SigInt stop",
                            [&stop]() { stop = true; });
 
    const auto period = std::chrono::duration<double>(control_period);
    pid::Period loop(period);
 
    pid_log << "Starting periodic loop" << pid::endl;
    while (not stop) {
 
        EL2008.set_channel_state(ethercatcpp::EL2008::channel_1, true);
        EL2008.set_channel_state(ethercatcpp::EL2008::channel_4, true);
        EL2008.set_channel_state(ethercatcpp::EL2008::channel_7, true);
 
        // If cycle is correct read data
        if (master.next_cycle()) {
            pid_log << "EL1018 state:" << pid::endl;
            pid_log << "Channel 1 state = "
                    << EL1018.channel_state(ethercatcpp::EL1018::channel_1)
                    << pid::endl;
            pid_log << "Channel 2 state = "
                    << EL1018.channel_state(ethercatcpp::EL1018::channel_2)
                    << pid::endl;
            pid_log << "Channel 3 state = "
                    << EL1018.channel_state(ethercatcpp::EL1018::channel_3)
                    << pid::endl;
            pid_log << "Channel 4 state = "
                    << EL1018.channel_state(ethercatcpp::EL1018::channel_4)
                    << pid::endl;
            pid_log << pid::flush;
 
            EL1018.print_all_channels();
        }
 
        loop.sleep();
    }
 
    pid::SignalManager::remove(pid::SignalManager::Interrupt, "SigInt stop");
}