#include <ecat_lifecycle.hpp>

Inheritance diagram for EthercatLifeCycleNode::EthercatLifeCycle:

Collaboration diagram for EthercatLifeCycleNode::EthercatLifeCycle:

Public Member Functions
	EthercatLifeCycle ()

	~EthercatLifeCycle ()

Private Member Functions
node_interfaces::LifecycleNodeInterface::CallbackReturn	on_configure (const State &)
	Ethercat lifecycle node configuration function, node will start with this function For more information about Lifecyclenode and it's interfaces check below link : https://design.ros2.org/articles/node_lifecycle.html. More...

node_interfaces::LifecycleNodeInterface::CallbackReturn	on_activate (const State &)
	Activates Ethercat lifecycle node and starts real-time Ethercat communication. All publishing is done in real-time loop in this active state. More...

node_interfaces::LifecycleNodeInterface::CallbackReturn	on_deactivate (const State &)
	Deactivates Ethercat lifecycle node, turns of real-time communication. More...

node_interfaces::LifecycleNodeInterface::CallbackReturn	on_cleanup (const State &)
	Cleans up all variables and datas assigned by Ethercat lifecycle node. More...

node_interfaces::LifecycleNodeInterface::CallbackReturn	on_shutdown (const State &)
	Shuts down EtherCAT lifecycle node, releases Ethercat master. More...

node_interfaces::LifecycleNodeInterface::CallbackReturn	on_error (const State &)
	There isn't any error recovery functionality for this node, just resets nodes. Reconfiguration is needed for restarting communication. More...

void	HandleControlNodeCallbacks (const sensor_msgs::msg::Joy::SharedPtr msg)
	This function handles callbacks from control node. It will update received values from controller node. More...

int	SetComThreadPriorities ()
	Sets Ethercat communication thread's properties After this function called user must call StartEthercatCommunication() function]. More...

int	InitEthercatCommunication ()
	Encapsulates all configuration steps for the EtherCAT communication with default slaves. And waits for connected slaves to become operational. More...

int	StartEthercatCommunication ()
	Starts EtherCAT communcation. More...

void	StartPdoExchange (void *instance)
	Realtime cyclic Pdo exchange function which will constantly read/write values from/to slaves. More...

int	GetComState ()
	Gets master's communication state. More...

void	ReadFromSlaves ()
	Reads data from slaves and updates received data structure to be published. More...

int	PublishAllData ()
	Publishes all data that master received and will be sent. More...

int	PublishReceivedData ()
	Publishes received data from slaves under the /slave_feedback name. More...

void	EnableMotors ()
	Enables connected motor drives based on CIA402. More...

void	WriteToSlavesVelocityMode ()
	Updates data that will be sent to slaves. This updated data will be published as well. More...

void	WriteToSlavesInPositionMode ()
	Writes target position and control word to motor in profile position mode. More...

void	UpdateVelocityModeParameters ()
	Acquired data from subscribed controller topic will be assigned as motor speed parameter. More...

void	UpdateCyclicVelocityModeParameters ()
	Acquired data from subscribed controller topic will be assigned as motor speed parameter. More...

void	UpdatePositionModeParameters ()
	Acquired data from subscribed controller topic will be assigned as motor target position parameter. More...

void	UpdateCyclicPositionModeParameters ()
	Acquired data from subscribed controller topic will be assigned as motor cyclic target position parameter in configured interpolation time. More...

void	UpdateMotorStateVelocityMode ()
	Updates motor control world and motor state in velocity mode based on CIA402. More...

void	UpdateMotorStatePositionMode ()
	Updates motor control word and motor state in position mode based on CIA402 state machine,. More...

void	UpdateCyclicTorqueModeParameters ()
	Updates cylic torque mode parameters based on controller inputs. More...

void	WriteToSlavesInCyclicTorqueMode ()
	Writes target torque and control word in cyclic sync. torque mode. More...

void	HandleGuiNodeCallbacks (const ecat_msgs::msg::GuiButtonData::SharedPtr gui_sub)
	CKim - This function checks status word and returns state of the motor driver. More...

int	GetDriveState (const int &statusWord)
	CKim - This function checks status word and returns state of the motor driver. More...

int	EnableDrivers ()
	CKim - This function checks status word, clears any faults and enables torque of the motor driver. More...

int8_t	EnableDrivesViaSDO (int index)
	Enables drives supporting CiA402 in specified index. More...

int8_t	DisableDrivesViaSDO (int index)
	Disables drives supporting CiA402 in specified index. More...

int	SetConfigurationParameters ()
	Assigns operation mode parameters based on selected operation mode. More...

void	UpdateControlParameters ()
	Updates control parameters based on selected mode. More...

Static Private Member Functions
static void *	PassCycylicExchange (void *arg)
	Helper function to enter pthread_create, since pthread's are C function it doesn't accept class member function, to pass class member function this helper function is created. More...

Private Attributes
rclcpp::TimerBase::SharedPtr	timer_

LifecyclePublisher< ecat_msgs::msg::DataReceived >::SharedPtr	received_data_publisher_
	This lifecycle publisher will be used to publish received feedback data from slaves. More...

LifecyclePublisher< ecat_msgs::msg::DataSent >::SharedPtr	sent_data_publisher_
	This lifecycle publisher will be used to publish sent data from master to slaves. More...

rclcpp::Subscription< sensor_msgs::msg::Joy >::SharedPtr	joystick_subscriber_
	This subscriber will be used to receive data from controller node. More...

rclcpp::Subscription< ecat_msgs::msg::GuiButtonData >::SharedPtr	gui_subscriber_

ecat_msgs::msg::DataReceived	received_data_

ecat_msgs::msg::DataSent	sent_data_

std::unique_ptr< EthercatNode >	ecat_node_

pthread_t	ethercat_thread_
	pthread create required parameters. More...

struct sched_param	ethercat_sched_param_ = {}

pthread_attr_t	ethercat_thread_attr_

int32_t	err_

uint8_t	al_state_ = 0
	Application layer of slaves seen by master.(INIT/PREOP/SAFEOP/OP) More...

uint32_t	motor_state_ [g_kNumberOfServoDrivers]

uint32_t	command_ = 0x004F

Controller	controller_

ecat_msgs::msg::GuiButtonData	gui_buttons_status_
	Values will be sent by controller node and will be assigned to variables below. More...

uint8_t	gui_node_data_ = 1

uint8_t	emergency_status_ = 1

std::int32_t	measurement_time = 0

Timing	timer_info_

Constructor & Destructor Documentation

◆ EthercatLifeCycle()

EthercatLifeCycle::EthercatLifeCycle ( )

◆ ~EthercatLifeCycle()

EthercatLifeCycle::~EthercatLifeCycle ( )

Member Function Documentation

◆ DisableDrivesViaSDO()

int8_t EthercatLifeCycle::DisableDrivesViaSDO ( int index )

private

Disables drives supporting CiA402 in specified index.

Parameters

index slave index

Returns: 0 if successful, otherwise -1.

◆ EnableDrivers()

int EthercatLifeCycle::EnableDrivers ( )

private

CKim - This function checks status word, clears any faults and enables torque of the motor driver.

◆ EnableDrivesViaSDO()

int8_t EthercatLifeCycle::EnableDrivesViaSDO ( int index )

private

Enables drives supporting CiA402 in specified index.

Parameters

index slave index

Returns: 0 if successfull, otherwise -1.

◆ EnableMotors()

void EthercatLifeCycle::EnableMotors ( )

private

Enables connected motor drives based on CIA402.

◆ GetComState()

int EthercatLifeCycle::GetComState ( )

private

Gets master's communication state.

See also: ec_al_state_t

Returns: Application layer state for master.

◆ GetDriveState()

int EthercatLifeCycle::GetDriveState ( const int & statusWord )

private

CKim - This function checks status word and returns state of the motor driver.

◆ HandleControlNodeCallbacks()

void EthercatLifeCycle::HandleControlNodeCallbacks ( const sensor_msgs::msg::Joy::SharedPtr msg )

private

This function handles callbacks from control node. It will update received values from controller node.

◆ HandleGuiNodeCallbacks()

void EthercatLifeCycle::HandleGuiNodeCallbacks ( const ecat_msgs::msg::GuiButtonData::SharedPtr gui_sub )

private

CKim - This function checks status word and returns state of the motor driver.

This function will handle values from GUI node. Updates parameters based on GUI node inputs.

◆ InitEthercatCommunication()

int EthercatLifeCycle::InitEthercatCommunication ( )

private

Encapsulates all configuration steps for the EtherCAT communication with default slaves. And waits for connected slaves to become operational.

Returns: 0 if succesful otherwise -1.

◆ on_activate()

node_interfaces::LifecycleNodeInterface::CallbackReturn EthercatLifeCycle::on_activate ( const State & )

private

Activates Ethercat lifecycle node and starts real-time Ethercat communication. All publishing is done in real-time loop in this active state.

Returns: Success if activation successfull,otherwise FAILURE

◆ on_cleanup()

node_interfaces::LifecycleNodeInterface::CallbackReturn EthercatLifeCycle::on_cleanup ( const State & )

private

Cleans up all variables and datas assigned by Ethercat lifecycle node.

Returns: Success if cleanup successfull,otherwise FAILURE

◆ on_configure()

node_interfaces::LifecycleNodeInterface::CallbackReturn EthercatLifeCycle::on_configure ( const State & )

private

Ethercat lifecycle node configuration function, node will start with this function For more information about Lifecyclenode and it's interfaces check below link : https://design.ros2.org/articles/node_lifecycle.html.

See also: node_interfaces::LifecycleNodeInterface::CallbackReturn

Returns: Success if configuration successfull,otherwise FAILURE

◆ on_deactivate()

node_interfaces::LifecycleNodeInterface::CallbackReturn EthercatLifeCycle::on_deactivate ( const State & )

private

Deactivates Ethercat lifecycle node, turns of real-time communication.

Returns: Success if deactivation successfull,otherwise FAILURE

◆ on_error()

node_interfaces::LifecycleNodeInterface::CallbackReturn EthercatLifeCycle::on_error ( const State & )

private

There isn't any error recovery functionality for this node, just resets nodes. Reconfiguration is needed for restarting communication.

Returns: Success

◆ on_shutdown()

node_interfaces::LifecycleNodeInterface::CallbackReturn EthercatLifeCycle::on_shutdown ( const State & )

private

Shuts down EtherCAT lifecycle node, releases Ethercat master.

Returns: Success if shut down successfull,otherwise FAILURE

◆ PassCycylicExchange()

void * EthercatLifeCycle::PassCycylicExchange ( void * arg )

staticprivate

Helper function to enter pthread_create, since pthread's are C function it doesn't accept class member function, to pass class member function this helper function is created.

Parameters

arg	Pointer to current class instance.

Returns: void*

◆ PublishAllData()

int EthercatLifeCycle::PublishAllData ( )

private

Publishes all data that master received and will be sent.

Returns: 0 if successfull otherwise -1.

◆ PublishReceivedData()

int EthercatLifeCycle::PublishReceivedData ( )

private

Publishes received data from slaves under the /slave_feedback name.

Returns: 0 if successfull, otherwise -1.

◆ ReadFromSlaves()

void EthercatLifeCycle::ReadFromSlaves ( )

private

Reads data from slaves and updates received data structure to be published.

◆ SetComThreadPriorities()

int EthercatLifeCycle::SetComThreadPriorities ( )

private

Sets Ethercat communication thread's properties After this function called user must call StartEthercatCommunication() function].

Returns: 0 if successfull, otherwise -1.

◆ SetConfigurationParameters()

int EthercatLifeCycle::SetConfigurationParameters ( )

private

Assigns operation mode parameters based on selected operation mode.

Note: That if you want to change the parameters just change it by modifying this function.; By default operation mode is selected as profile velocity mode.

Returns: 0 if succesful, otherwise -1.

◆ StartEthercatCommunication()

int EthercatLifeCycle::StartEthercatCommunication ( )

private

Starts EtherCAT communcation.

Returns: 0 if successfull, otherwise -1.

◆ StartPdoExchange()

void EthercatLifeCycle::StartPdoExchange ( void * instance )

private

Realtime cyclic Pdo exchange function which will constantly read/write values from/to slaves.

Parameters

arg	Used during pthread_create function to pass variables to realtime task.

Returns: NULL

◆ UpdateControlParameters()

void EthercatLifeCycle::UpdateControlParameters ( )

private

Updates control parameters based on selected mode.

◆ UpdateCyclicPositionModeParameters()

void EthercatLifeCycle::UpdateCyclicPositionModeParameters ( )

private

Acquired data from subscribed controller topic will be assigned as motor cyclic target position parameter in configured interpolation time.

WRITE YOUR CUSTOM CONTROL ALGORITHM, VARIABLES DECLARATAION HERE, LIKE IN EXAMPLE BELOW.

◆ UpdateCyclicTorqueModeParameters()

void EthercatLifeCycle::UpdateCyclicTorqueModeParameters ( )

private

Updates cylic torque mode parameters based on controller inputs.

◆ UpdateCyclicVelocityModeParameters()

void EthercatLifeCycle::UpdateCyclicVelocityModeParameters ( )

private

Acquired data from subscribed controller topic will be assigned as motor speed parameter.

WRITE YOUR CUSTOM CONTROL ALGORITHM, VARIABLES DECLARATAION HERE, LIKE IN EXAMPLE BELOW.

◆ UpdateMotorStatePositionMode()

void EthercatLifeCycle::UpdateMotorStatePositionMode ( )

private

Updates motor control word and motor state in position mode based on CIA402 state machine,.

◆ UpdateMotorStateVelocityMode()

void EthercatLifeCycle::UpdateMotorStateVelocityMode ( )

private

Updates motor control world and motor state in velocity mode based on CIA402.

◆ UpdatePositionModeParameters()

void EthercatLifeCycle::UpdatePositionModeParameters ( )

private

Acquired data from subscribed controller topic will be assigned as motor target position parameter.

WRITE YOUR CUSTOM CONTROL ALGORITHM, VARIABLES DECLARATAION HERE, LIKE IN EXAMPLE BELOW. KEEP IN MIND THAT YOU WILL HAVE TO WAIT FOR THE MOTION TO FINISH IN POSITION MODE, THEREFORE YOU HAVE TO CHECK 10th BIT OF STATUS WORD TO CHECK WHETHER TARGET IS REACHED OR NOT.

◆ UpdateVelocityModeParameters()

void EthercatLifeCycle::UpdateVelocityModeParameters ( )

private

Acquired data from subscribed controller topic will be assigned as motor speed parameter.

WRITE YOUR CUSTOM CONTROL ALGORITHM VARIABLES DECLARATAION HERE

WRITE YOUR CUSTOM CONTROL ALGORITHM HERE IF YOU WANT TO USE VELOCITY MODE

YOU CAN CHECK EXAMPLE CONTROL CODE BELOW.

◆ WriteToSlavesInCyclicTorqueMode()

void EthercatLifeCycle::WriteToSlavesInCyclicTorqueMode ( )

private

Writes target torque and control word in cyclic sync. torque mode.

◆ WriteToSlavesInPositionMode()

void EthercatLifeCycle::WriteToSlavesInPositionMode ( )

private

Writes target position and control word to motor in profile position mode.

◆ WriteToSlavesVelocityMode()

void EthercatLifeCycle::WriteToSlavesVelocityMode ( )

private

Updates data that will be sent to slaves. This updated data will be published as well.

Member Data Documentation

◆ al_state_

uint8_t EthercatLifeCycleNode::EthercatLifeCycle::al_state_ = 0

private

Application layer of slaves seen by master.(INIT/PREOP/SAFEOP/OP)

◆ command_

uint32_t EthercatLifeCycleNode::EthercatLifeCycle::command_ = 0x004F

private

◆ controller_

Controller EthercatLifeCycleNode::EthercatLifeCycle::controller_

private

◆ ecat_node_

std::unique_ptr<EthercatNode> EthercatLifeCycleNode::EthercatLifeCycle::ecat_node_

private

◆ emergency_status_

uint8_t EthercatLifeCycleNode::EthercatLifeCycle::emergency_status_ = 1

private

◆ err_

int32_t EthercatLifeCycleNode::EthercatLifeCycle::err_

private

◆ ethercat_sched_param_

struct sched_param EthercatLifeCycleNode::EthercatLifeCycle::ethercat_sched_param_ = {}

private

◆ ethercat_thread_

pthread_t EthercatLifeCycleNode::EthercatLifeCycle::ethercat_thread_

private

pthread create required parameters.

◆ ethercat_thread_attr_

pthread_attr_t EthercatLifeCycleNode::EthercatLifeCycle::ethercat_thread_attr_

private

◆ gui_buttons_status_

ecat_msgs::msg::GuiButtonData EthercatLifeCycleNode::EthercatLifeCycle::gui_buttons_status_

private

Values will be sent by controller node and will be assigned to variables below.

◆ gui_node_data_

uint8_t EthercatLifeCycleNode::EthercatLifeCycle::gui_node_data_ = 1

private

◆ gui_subscriber_

rclcpp::Subscription<ecat_msgs::msg::GuiButtonData>::SharedPtr EthercatLifeCycleNode::EthercatLifeCycle::gui_subscriber_

private

◆ joystick_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr EthercatLifeCycleNode::EthercatLifeCycle::joystick_subscriber_

private

This subscriber will be used to receive data from controller node.

◆ measurement_time

std::int32_t EthercatLifeCycleNode::EthercatLifeCycle::measurement_time = 0

private

◆ motor_state_

uint32_t EthercatLifeCycleNode::EthercatLifeCycle::motor_state_[g_kNumberOfServoDrivers]

private

◆ received_data_

ecat_msgs::msg::DataReceived EthercatLifeCycleNode::EthercatLifeCycle::received_data_

private

◆ received_data_publisher_

LifecyclePublisher<ecat_msgs::msg::DataReceived>::SharedPtr EthercatLifeCycleNode::EthercatLifeCycle::received_data_publisher_

private

This lifecycle publisher will be used to publish received feedback data from slaves.

◆ sent_data_

ecat_msgs::msg::DataSent EthercatLifeCycleNode::EthercatLifeCycle::sent_data_

private

◆ sent_data_publisher_

LifecyclePublisher<ecat_msgs::msg::DataSent>::SharedPtr EthercatLifeCycleNode::EthercatLifeCycle::sent_data_publisher_

private

This lifecycle publisher will be used to publish sent data from master to slaves.

◆ timer_

rclcpp::TimerBase::SharedPtr EthercatLifeCycleNode::EthercatLifeCycle::timer_

private

◆ timer_info_

Timing EthercatLifeCycleNode::EthercatLifeCycle::timer_info_

private

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

src/ecat_pkg/include/ecat_pkg/ecat_lifecycle.hpp
src/ecat_pkg/src/ecat_lifecycle.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ EthercatLifeCycle()

◆ ~EthercatLifeCycle()

Member Function Documentation

◆ DisableDrivesViaSDO()

◆ EnableDrivers()

◆ EnableDrivesViaSDO()

◆ EnableMotors()

◆ GetComState()

◆ GetDriveState()

◆ HandleControlNodeCallbacks()

◆ HandleGuiNodeCallbacks()

◆ InitEthercatCommunication()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_error()

◆ on_shutdown()

◆ PassCycylicExchange()

◆ PublishAllData()

◆ PublishReceivedData()

◆ ReadFromSlaves()

◆ SetComThreadPriorities()

◆ SetConfigurationParameters()

◆ StartEthercatCommunication()

◆ StartPdoExchange()

◆ UpdateControlParameters()

◆ UpdateCyclicPositionModeParameters()

◆ UpdateCyclicTorqueModeParameters()

◆ UpdateCyclicVelocityModeParameters()

◆ UpdateMotorStatePositionMode()

◆ UpdateMotorStateVelocityMode()

◆ UpdatePositionModeParameters()

◆ UpdateVelocityModeParameters()

◆ WriteToSlavesInCyclicTorqueMode()

◆ WriteToSlavesInPositionMode()

◆ WriteToSlavesVelocityMode()

Member Data Documentation

◆ al_state_

◆ command_

◆ controller_

◆ ecat_node_

◆ emergency_status_

◆ err_

◆ ethercat_sched_param_

◆ ethercat_thread_

◆ ethercat_thread_attr_

◆ gui_buttons_status_

◆ gui_node_data_

◆ gui_subscriber_

◆ joystick_subscriber_

◆ measurement_time

◆ motor_state_

◆ received_data_

◆ received_data_publisher_

◆ sent_data_

◆ sent_data_publisher_

◆ timer_

◆ timer_info_