mcx::ecat::ModuleExtSim

4 minute read

mcx::ecat::ModuleExtSim

Inherits from mcx::ecat::Module, mcx::container::Module

Public Functions

	Name
	ModuleExtSim() =delete
	ModuleExtSim(std::shared_ptr< EthercatBase > master, const std::vector< Domain > & domain_list)
virtual std::string	getInfo() const override
void	addSimDomain(const std::vector< Domain > & domain_list)

Public Attributes

	Name
std::unique_ptr< EthercatBase >	master
std::vector< ecat::Module::DomainData >	domains

Additional inherited members

Public Classes inherited from mcx::ecat::Module

	Name
struct	DomainData

Public Functions inherited from mcx::ecat::Module

	Name
	Module() =delete
	Module(std::shared_ptr< EthercatBase > master, const std::vector< Domain > & domain_list)
	Module(std::shared_ptr< EthercatBase > master, const Domain & domain)

Public Attributes inherited from mcx::ecat::Module

	Name
bool	read_sdo
SdoState	sdo_state

Protected Attributes inherited from mcx::ecat::Module

	Name
std::shared_ptr< EthercatBase >	master_
std::vector< DomainData >	domains_
bool	error_
unsigned long	counter_
unsigned int	master_id_
int	cpu_affinity_
parameter_server::ParamHandle	sync_factor_handle_
parameter_server::ParamHandle	cpu_affinity_handle_
unsigned int	sync_factor_
struct mcx::ecat::Module::@10	sdo_state_

Public Types inherited from mcx::container::Module

	Name
enum class	ModuleStates { NOT_INITIALIZED, PHASE_0, PHASE0, PHASE0_1, PHASE1, PHASE1_2, PHASE2, PHASE2_OP, OP, OP_PHASE2, PHASE2_NOT_INIT}
enum class	ModuleErrors { NO_ERROR, NO_CALLBACK_DEFINED, CALLBACK_FAILED, WRONG_STATE}
enum class	ModuleEvents { EMPTY, STOP, START, PAUSE, ACK}

Public Functions inherited from mcx::container::Module

	Name
	Module() Default constructor.
virtual	~Module() =default Default destructor.
	Module(const Module & orig) =delete Copy constructors are deleted.
Module &	operator=(const Module & ) =delete Copy constructors are deleted.
void	create(const char * name, parameter_server::Parameter * parameter_server, uint64_t dt_micro_s =0) Executes ‘Create’ phase of initialization.
void	create(const char * name, parameter_server::Parameter * parameter_server, uint64_t dt_micro_s, parameter_server::UserGroup owner_group, uint32_t permissions =parameter_server::default_permissions) Extended interface with access permissions.
bool	initPhase1() Executes initialization of the parameter tree phase.
bool	initPhase2() Initialization, which require parameter tree to be complete and loaded.
bool	startOp() Final initialization before entering Operation mode.
bool	stopOp() Stops Operation mode, switches back to PHASE2.
bool	iterate(const TaskTime & task_time, UserTime * user_time) Iterates an execution cycle of the module.
void	setName(const char * name) Sets the name of the module.
const char *	getName() const Returns the name of the module.
void	setDtMicroSec(uint64_t micro_sec) Sets a cycle time of module and its submodules in microseconds.
uint64_t	getDtMicroSec() const Returns a cycle time as an integer in microseconds.
void	setDtSec(double sec) Sets a cycle time of module and its submodules in seconds.
double	getDtSec() const
ModuleStates	getState() const Returns an actual state.
void	setEvent(ModuleEvents event) Command an event.
ModuleErrors	getError() const Returns active error code.

Protected Functions inherited from mcx::container::Module

	Name
virtual bool	iteratePreOp_(const TaskTime & system_time, UserTime * user_time) User-defined callback which is called during Phase 2.
void	createSubmodule(Module * module, const char * name) Creates and registers submodule.
template <typename T > void	createSubmodules(utils::span< T > module_array, const char * basename) Creates and registers an array of submodules.
void	setType(const char * name) Sets a type of the module.
template <size_t buffer_size =parameter_server::DEFAULT_INPUT_BUFFER_LENGTH> parameter_server::ParamHandle	addParameter(const char * id, parameter_server::ParameterType param_type, char * str_ptr, size_t length) Helper function to register C-string member variable in the parameter tree.
template <typename T ,size_t buffer_size =parameter_server::DEFAULT_INPUT_BUFFER_LENGTH,add_visitable::EnableIfNotVisitable< T > =true> parameter_server::ParamHandle	addParameter(const char * id, parameter_server::ParameterType param_type, T * value_ptr, size_t length =1, parameter_server::Unit param_unit =parameter_server::Unit::undefined) Helper function to register member variable of in the parameter tree.
template <typename T ,size_t buffer_size =parameter_server::DEFAULT_INPUT_BUFFER_LENGTH,add_visitable::EnableIfVisitable< T > =true> parameter_server::GroupHandle	addParameter(const char * id, parameter_server::ParameterType param_type, T * value_ptr, size_t length =1, parameter_server::Unit param_unit =parameter_server::Unit::undefined) Helper function to register visitable PODs in the parameter tree.
template <typename T ,size_t buffer_size =parameter_server::DEFAULT_INPUT_BUFFER_LENGTH> parameter_server::ParamHandle	addParameter(const char * id, parameter_server::ParameterType param_type, parameter_server::DataType data_type, T * value_ptr, size_t length =1, parameter_server::Unit param_unit =parameter_server::Unit::undefined) Helper function to register types, which cannot be deduced.
parameter_server::SubHandle	subscribe(const char * path) Helper function to subscribe for the parameter’s update.
parameter_server::ReqHandle	request(const char * path) Helper function to request a parameter’s value.
parameter_server::PubHandle	publish(const char * path) Helper function to update parameter’s value.
parameter_server::Parameter *	getParameterRoot() Returns the root of the parameter tree.
parameter_server::Parameter *	getLocalBranch() Returns the root of the local branch.

Friends inherited from mcx::container::Module

	Name
class	Task

Public Functions Documentation

function ModuleExtSim

ModuleExtSim() =delete

function ModuleExtSim

ModuleExtSim(
    std::shared_ptr< EthercatBase > master,
    const std::vector< Domain > & domain_list
)

function getInfo

virtual std::string getInfo() const override

Reimplements: mcx::ecat::Module::getInfo

function addSimDomain

void addSimDomain(
    const std::vector< Domain > & domain_list
)

Public Attributes Documentation

variable master

std::unique_ptr< EthercatBase > master;

variable domains

std::vector< ecat::Module::DomainData > domains;

Updated on 2022-04-05 at 16:21:27 +0200