fastcat::Manager Class Reference

Fastcat::Manager is the main application interface to manage all fastcat devices. More...

#include "manager.h"

Public Member Functions
	Manager ()
	~Manager ()
void	Shutdown ()
	Shutdown the bus and joins all threads.
void	SaveActuatorPositions ()
	Capture current actuator positions and write them to file.
bool	ConfigFromYaml (const YAML::Node &node, double external_time=-1)
	Method that accepts a fastcat topology yaml and intializes bus.
bool	CreateConfigFromYaml (const YAML::Node &node, double external_time=-1)
	Parses YAML configuration and creates device objects (no hardware init)
bool	InitHardware ()
	Initializes EtherCAT hardware (executes deferred jsd_init calls)
bool	Process (double external_time=-1)
	Updates synchronous PDO and background async SDO requests.
void	QueueCommand (DeviceCmd &cmd)
	Interface to command devices on the bus.
std::vector< DeviceState >	GetDeviceStates ()
	Returns list of device states.
std::vector< std::shared_ptr< const DeviceState > >	GetDeviceStatePointers ()
	Returns list of device state pointers.
double	GetTargetLoopRate ()
	Public getter to the YAML target_loop_rate_hz parameter.
bool	IsFaulted ()
	Public getter retrieve fault status.
bool	RecoverBus (std::string ifname)
	Attempts to recover a faulty JSD bus by name.
bool	ExecuteDeviceReset (std::string device_name)
	Triggers a single device to reset.
bool	ExecuteDeviceFault (std::string device_name)
	Triggers a single device to fault.
void	ExecuteAllDeviceResets ()
	Triggers all devices to Reset.
void	ExecuteAllDeviceFaults ()
	Triggers all devices to Fault.
bool	IsSdoResponseQueueEmpty ()
	checks if the SdoResponse Queue is empty
bool	PopSdoResponseQueue (SdoResponse &res)
	get the result of a background SDO operation
bool	GetActuatorParams (const std::string &name, fastcat::Actuator::ActuatorParams &param)
	get actuator parameters
void	GetDeviceNamesByType (std::vector< std::string > &, fastcat::DeviceStateType)
	names of actuator devices
void	SetExplicitInterpolationAlgorithmCubic ()
	Set interpolation algorithm to use 3rd order cubic interpolation between knot points for all actuators.
void	SetExplicitInterpolationAlgorithmLinear ()
	Set interpolation algorithm to use 1st order linear interpolation between knot points for both position and velocity for all actuators.
void	SetExplicitInterpolationTimestampSourceCspMessage ()
	Set interpolation algorithm to use the timestamp in the CSP message generated by the calling module for determining time of interpolation knot-points, which accounts for latency in message passing.
void	SetExplicitInterpolationTimestampSourceClock ()
	Set interpolation algorithm to use the timestamp when the CSP message was received according to fastcat's clock; this mode of interpolation does not account for latency in message passing.
bool	SetExplicitInterpolationCyclesDelay (size_t delay)
	Set number of cycles of the calling module to delay the onset of explicit interpolation, e.g. if delay is set to 3, fastcast will wait until 4 messages accumulate in the buffer before beginning motion profile. A larger buffer provides a greater margin against motion setpoints not being received fast enough as motion profile is executing, which may happen due to process jitter or message passing latency.
bool	SetInterpolationCyclesStale (size_t cycles)
	CSP interpolation will transition to a holding state if it has not received a CSP message within the provided number of fastcat process cycles.

Detailed Description

Fastcat::Manager is the main application interface to manage all fastcat devices.

Constructor & Destructor Documentation

Manager()

fastcat::Manager::Manager

(

)

~Manager()

fastcat::Manager::~Manager

(

)

Member Function Documentation

ConfigFromYaml()

bool fastcat::Manager::ConfigFromYaml	(	const YAML::Node &	node,
		double	external_time = -1
	)

Method that accepts a fastcat topology yaml and intializes bus.

Returns

true on successful initialization. If false, application should quit.

CreateConfigFromYaml()

bool fastcat::Manager::CreateConfigFromYaml	(	const YAML::Node &	node,
		double	external_time = -1
	)

Parses YAML configuration and creates device objects (no hardware init)

Returns

true on successful configuration. If false, application should quit.

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ExecuteAllDeviceFaults()

void fastcat::Manager::ExecuteAllDeviceFaults

(

)

Triggers all devices to Fault.

This function loops over all devices in the topology and calls their DeviceBase::Fault() Method. An example usage is a soft-stop GUI button that can be used to arrest motion.

Returns

void

ExecuteAllDeviceResets()

void fastcat::Manager::ExecuteAllDeviceResets

(

)

Triggers all devices to Reset.

This function loops over all devices in the topology and calls their DeviceBase::Reset() Method.

Returns

void

ExecuteDeviceFault()

bool fastcat::Manager::ExecuteDeviceFault

(

std::string

device_name

)

Triggers a single device to fault.

Parameters

device_name

the name of the device to fault, calls its Fault() method

Returns

true if the device exists, false if device_name is invalid.

ExecuteDeviceReset()

bool fastcat::Manager::ExecuteDeviceReset

(

std::string

device_name

)

Triggers a single device to reset.

Parameters

device_name

the name of the device to reset, calls its Reset() method

Returns

true if the device exists, false if device_name is invalid.

GetActuatorParams()

bool fastcat::Manager::GetActuatorParams	(	const std::string &	name,
		fastcat::Actuator::ActuatorParams &	param
	)

get actuator parameters

Returns

true if the return reference 'parameters' is valid

GetDeviceNamesByType()

void fastcat::Manager::GetDeviceNamesByType	(	std::vector< std::string > &	names,
		fastcat::DeviceStateType	device_state_type
	)

names of actuator devices

GetDeviceStatePointers()

std::vector< std::shared_ptr< const fastcat::DeviceState > > fastcat::Manager::GetDeviceStatePointers

(

)

Returns list of device state pointers.

Provided for potential optimization. GetDeviceStates() generally performs better. This function is not intended to be called in a realtime process loop because it dynamically allocates memory to hold a vector of device state pointers.

Returns

device states

GetDeviceStates()

std::vector< fastcat::DeviceState > fastcat::Manager::GetDeviceStates

(

)

Returns list of device states.

Returns

device states

GetTargetLoopRate()

double fastcat::Manager::GetTargetLoopRate

(

)

Public getter to the YAML target_loop_rate_hz parameter.

Returns

loop rate in hz

InitHardware()

bool fastcat::Manager::InitHardware

(

)

Initializes EtherCAT hardware (executes deferred jsd_init calls)

Returns

true on successful hardware initialization. If false, application should quit.

IsFaulted()

bool fastcat::Manager::IsFaulted

(

)

Public getter retrieve fault status.

Returns

true if bus is faulted

IsSdoResponseQueueEmpty()

bool fastcat::Manager::IsSdoResponseQueueEmpty

(

)

checks if the SdoResponse Queue is empty

Returns

if queue is empty

PopSdoResponseQueue()

bool fastcat::Manager::PopSdoResponseQueue

(

SdoResponse &

res

)

get the result of a background SDO operation

If the SDO Response queue contains any responses, this function pops the oldest value and returns it to the application.

Returns

true if the return reference 'res' is valid

Process()

bool fastcat::Manager::Process

(

double

external_time = -1

)

Updates synchronous PDO and background async SDO requests.

Process() proceeds by

1. Triggers PDO Read on EtherCAT bus
2. Reads all JSD devices into the manager
3. Reads all Fastcat devices (including observed device state propagation)
4. Calls DeviceBase::Process() on Fastcat Devices, checking for faults and SDO requests
5. Writes Device Commands (Includes User commands and Fastcat Device Commands)
6. Calls Process() on JSD devices, checking for faults

7. Triggers PDO Write on EtherCAT bus

   Note: For best performance, the application should call the Manager::Process() function at the same frequency as the input YAML field target_loop_rate_hz. This parameter is needed by certain devices for profiling and filtering.

Parameters

external_time

Supply an external time if desired, otherwise defaults to jsd supplied system time

Returns

Return true if bus is not faulted, otherwise a bus fault is active.

QueueCommand()

void fastcat::Manager::QueueCommand

(

DeviceCmd &

cmd

)

Interface to command devices on the bus.

Commands each have a name field and that name is used to dispatch the command to the right device. If the provided name is not found on the loaded bus topology, a warning message is printed to stdout but no faults are triggered.

Returns

void

RecoverBus()

bool fastcat::Manager::RecoverBus

(

std::string

ifname

)

Attempts to recover a faulty JSD bus by name.

A bus fault example is spurious Working Counter (WKC) error, or perhaps an intended power cycle of a configured EtherCAT slave.

Parameters

ifname

the name of the JSD bus configured in the input topology YAML

Returns

true if bus ifname exists, does not indicate the error is fixed.

SaveActuatorPositions()

void fastcat::Manager::SaveActuatorPositions

(

)

Capture current actuator positions and write them to file.

Intended for callers that want to persist positions without tearing down the bus. The write itself is crash-safe (atomic rename), and the positions are snapshotted under the same internal mutex used by Process(), so this is safe to call from any thread while the process loop is still running. The snapshot is taken under that mutex but the disk write is not, so the RT loop is not blocked on I/O.

Must NOT be called from a signal handler: it takes a mutex and allocates, neither of which is async-signal-safe, and if the signal is delivered on the thread already inside Process() it will self-deadlock on that mutex. Set a flag in the handler and call this from your normal control flow instead.

No-op for topologies that do not persist positions (no actuators, or only actuators with absolute encoders).

Returns

void

SetExplicitInterpolationAlgorithmCubic()

void fastcat::Manager::SetExplicitInterpolationAlgorithmCubic

(

)

Set interpolation algorithm to use 3rd order cubic interpolation between knot points for all actuators.

SetExplicitInterpolationAlgorithmLinear()

void fastcat::Manager::SetExplicitInterpolationAlgorithmLinear

(

)

Set interpolation algorithm to use 1st order linear interpolation between knot points for both position and velocity for all actuators.

SetExplicitInterpolationCyclesDelay()

bool fastcat::Manager::SetExplicitInterpolationCyclesDelay

(

size_t

delay

)

Set number of cycles of the calling module to delay the onset of explicit interpolation, e.g. if delay is set to 3, fastcast will wait until 4 messages accumulate in the buffer before beginning motion profile. A larger buffer provides a greater margin against motion setpoints not being received fast enough as motion profile is executing, which may happen due to process jitter or message passing latency.

SetExplicitInterpolationTimestampSourceClock()

void fastcat::Manager::SetExplicitInterpolationTimestampSourceClock

(

)

Set interpolation algorithm to use the timestamp when the CSP message was received according to fastcat's clock; this mode of interpolation does not account for latency in message passing.

SetExplicitInterpolationTimestampSourceCspMessage()

void fastcat::Manager::SetExplicitInterpolationTimestampSourceCspMessage

(

)

Set interpolation algorithm to use the timestamp in the CSP message generated by the calling module for determining time of interpolation knot-points, which accounts for latency in message passing.

SetInterpolationCyclesStale()

bool fastcat::Manager::SetInterpolationCyclesStale

(

size_t

cycles

)

CSP interpolation will transition to a holding state if it has not received a CSP message within the provided number of fastcat process cycles.

Shutdown()

void fastcat::Manager::Shutdown

(

)

Shutdown the bus and joins all threads.

Also Writes Actuator positions to file if applicable.

Returns

void

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

• src/manager.h
• src/manager.cc