ecat_node.hpp

Go to the documentation of this file.

/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2021 Veysi ADIN, UST KIST
 *
 *  This file is part of the IgH EtherCAT master userspace program in the ROS2 environment.
 *
 *  The IgH EtherCAT master userspace program in the ROS2 environment is free software; you can
 *  redistribute it and/or modify it under the terms of the GNU General
 *  Public License as published by the Free Software Foundation; version 2
 *  of the License.
 *
 *  The IgH EtherCAT master userspace program in the ROS2 environment 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
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the IgH EtherCAT master userspace program in the ROS environment. If not, see
 *  <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *  Contact information: veysi.adin@kist.re.kr
 *****************************************************************************/
/******************************************************************************
 *  \file   ecat_node.hpp
 *  \brief  IgH EtherCAT library functionality wrapper class header file.
 * 
 *   This header file contains blueprint of EthercatNode class which will be 
 *   responsible for encapsulating IgH EtherCAT library's functionality.
 *******************************************************************************/
#pragma once
/******************************************************************************/
#include "ecat_globals.hpp"
/******************************************************************************/
class EthercatSlave ;
#include "ecat_slave.hpp"
/******************************************************************************/
#include <rclcpp/rclcpp.hpp>
#include "sensor_msgs/msg/joy.hpp"
/*****************************************************************************/
namespace EthercatCommunication
{
    class EthercatNode
    {
        public:
            EthercatNode();
            ~EthercatNode();
        EthercatSlave slaves_[NUM_OF_SLAVES];
        std::vector<SdoRequest> request_sdos_ ; 
        int  ConfigureMaster();
        void DefineDefaultSlaves();
        void SetCustomSlave(EthercatSlave c_slave, int position);
        int  ConfigureSlaves();
        int  SetProfilePositionParameters(ProfilePosParam& P , int position);
        int SetProfilePositionParametersAll(ProfilePosParam& P);
        int SetProfileVelocityParameters(ProfileVelocityParam& P,int position);
        int SetProfileVelocityParametersAll(ProfileVelocityParam& P);
        int SetCyclicSyncPositionModeParameters(CSPositionModeParam& P, int position);
        int SetCyclicSyncPositionModeParametersAll(CSPositionModeParam &P);
 
        int SetCyclicSyncVelocityModeParameters(CSVelocityModeParam& P, int position);
        int SetCyclicSyncVelocityModeParametersAll(CSVelocityModeParam &P);
 
        int SetCyclicSyncTorqueModeParameters(CSTorqueModeParam& P, int position);
 
        int SetCyclicSyncTorqueModeParametersAll(CSTorqueModeParam &P);
        int MapDefaultSdos();
        int MapDefaultPdos();
        int MapCustomPdos(EthercatSlave c_slave, int position);
        void ConfigDcSyncDefault();
        void ConfigDcSync(uint16_t assign_activate, int position);
        void CheckSlaveConfigurationState();
        int  CheckMasterState();
        void CheckMasterDomainState();
        int  ActivateMaster();
        int  RegisterDomain();
        int  WaitForOperationalMode();
 
        int OpenEthercatMaster();
        int GetNumberOfConnectedSlaves();
        void GetAllSlaveInformation();
 
        void DeactivateCommunication();
        void ReleaseMaster();
        int ShutDownEthercatMaster();
        int RestartEthercatMaster();
        void WriteSDO(ec_sdo_request_t *req, int32_t data,int size);
        uint16_t ReadSDO(ec_sdo_request_t *req,uint16_t &status_word);
        int8_t SdoRead(SDO_data &pack);
 
        int8_t SdoWrite(SDO_data &pack);
 
        uint16_t ReadStatusWordViaSDO(int index);
        int16_t WriteControlWordViaSDO(int index,uint16_t control_word);
        int16_t WriteOpModeViaSDO(int index,uint8_t op_mode);
        uint8_t ReadOpModeViaSDO(int index);
        int32_t ReadActualVelocityViaSDO(int index);
        int16_t WriteTargetVelocityViaSDO(int index,int32_t target_vel);
        int32_t ReadActualPositionViaSDO(int index);
        int16_t WriteTargetPositionViaSDO(int index,int32_t target_pos);
        int16_t ReadActualTorqueViaSDO(int index);
        int16_t WriteTargetTorqueViaSDO(int index,uint16_t target_tor);
        int16_t EnableDrivesViaSDO(int index);
        int16_t DisableDrivesViaSDO(int index);
 
        private:
        int  fd;
        
    };
}