fastcat::JsdDeviceBase Class Reference

#include "jsd_device_base.h"

Inheritance diagram for fastcat::JsdDeviceBase:

Collaboration diagram for fastcat::JsdDeviceBase:

Public Types
enum	AsyncSdoRetVal { SDO_RET_VAL_FAILURE , SDO_RET_VAL_SUCCESS , SDO_RET_VAL_NOT_APPLICABLE }

Public Member Functions
bool	Write (DeviceCmd &cmd) override
void	SetSlaveId (uint16_t slave_id)
uint16_t	GetSlaveId ()
void	SetContext (jsd_t *context)
void	RegisterSdoResponseQueue (std::shared_ptr< std::queue< SdoResponse > > sdo_response_queue)
void	SetOffline (bool is_offline)
bool	IsOffline ()
Public Member Functions inherited from fastcat::DeviceBase
virtual	~DeviceBase ()
virtual bool	ConfigFromYaml (const YAML::Node &node)=0
virtual bool	Read ()=0
virtual FaultType	Process ()
virtual void	Fault ()
virtual void	Reset ()
virtual void	SetInitializationTime (double time_sec, double monotonic_time_sec)
void	RegisterCmdQueue (std::shared_ptr< ThreadSafeQueue< DeviceCmd > > cmd_queue)
std::string	GetName ()
std::shared_ptr< DeviceState >	GetState ()
void	SetTime (double time, double monotonic_time)
void	SetLoopPeriod (double loop_period)

Protected Member Functions
AsyncSdoRetVal	WriteAsyncSdoRequest (DeviceCmd &cmd)
AsyncSdoRetVal	WriteAsyncSdoRequestOnline (DeviceCmd &cmd)
AsyncSdoRetVal	WriteAsyncSdoRequestOffline (DeviceCmd &cmd)

Protected Attributes
bool	is_offline_ = false
	If is an offline version.
jsd_t *	context_ = NULL
	JSD context.
int	slave_id_ = 0
	EtherCAT Slave Index.
std::shared_ptr< std::queue< SdoResponse > >	sdo_response_queue_
Protected Attributes inherited from fastcat::DeviceBase
std::string	name_
	unique device name
double	last_monotonic_time_ = 0.0
double	loop_period_ = 0.0
	only some devices need
double	initialization_time_sec_ = -1
	only some devices need
double	monotonic_initialization_time_sec_ = -1
	only some devices need
bool	device_fault_active_ = false
	device-level fault, manager also has fault status flag
std::shared_ptr< DeviceState >	state_
	Fastcat state data.
std::shared_ptr< ThreadSafeQueue< DeviceCmd > >	cmd_queue_
	for intra-device commands

Additional Inherited Members
Public Attributes inherited from fastcat::DeviceBase
std::vector< Signal >	signals_

Member Enumeration Documentation

AsyncSdoRetVal

enum fastcat::JsdDeviceBase::AsyncSdoRetVal

Enumerator
SDO_RET_VAL_FAILURE
SDO_RET_VAL_SUCCESS
SDO_RET_VAL_NOT_APPLICABLE

Member Function Documentation

GetSlaveId()

uint16_t fastcat::JsdDeviceBase::GetSlaveId

(

)

IsOffline()

bool fastcat::JsdDeviceBase::IsOffline ( )

inline

RegisterSdoResponseQueue()

void fastcat::JsdDeviceBase::RegisterSdoResponseQueue

(

std::shared_ptr< std::queue< SdoResponse > >

sdo_response_queue

)

SetContext()

void fastcat::JsdDeviceBase::SetContext

(

jsd_t *

context

)

SetOffline()

void fastcat::JsdDeviceBase::SetOffline

(

bool

is_offline

)

SetSlaveId()

void fastcat::JsdDeviceBase::SetSlaveId

(

uint16_t

slave_id

)

Write()

bool fastcat::JsdDeviceBase::Write ( DeviceCmd &  cmd )

overridevirtual

Reimplemented from fastcat::DeviceBase.

Here is the call graph for this function:

WriteAsyncSdoRequest()

fastcat::JsdDeviceBase::AsyncSdoRetVal fastcat::JsdDeviceBase::WriteAsyncSdoRequest ( DeviceCmd &  cmd )

protected

Here is the caller graph for this function:

WriteAsyncSdoRequestOffline()

fastcat::JsdDeviceBase::AsyncSdoRetVal fastcat::JsdDeviceBase::WriteAsyncSdoRequestOffline ( DeviceCmd &  cmd )

protected

WriteAsyncSdoRequestOnline()

fastcat::JsdDeviceBase::AsyncSdoRetVal fastcat::JsdDeviceBase::WriteAsyncSdoRequestOnline ( DeviceCmd &  cmd )

protected

Member Data Documentation

context_

jsd_t* fastcat::JsdDeviceBase::context_ = NULL

protected

JSD context.

is_offline_

bool fastcat::JsdDeviceBase::is_offline_ = false

protected

If is an offline version.

sdo_response_queue_

std::shared_ptr<std::queue<SdoResponse> > fastcat::JsdDeviceBase::sdo_response_queue_

protected

provided so that offline devices can push to this queue with SDO response stubs

slave_id_

int fastcat::JsdDeviceBase::slave_id_ = 0

protected

EtherCAT Slave Index.

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

• src/jsd/jsd_device_base.h
• src/jsd/jsd_device_base.cc