Merge pull request #262 from project-march/feature/PM-325-ethercat-interface

Feature: ethercat interface

Author: Roelemans

march_hardware/CMakeLists.txt

@@ -38,15 +38,19 @@ if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
 endif()
 
 add_library(${PROJECT_NAME}
+    include/${PROJECT_NAME}/EtherCAT/pdo_interface.h
+    include/${PROJECT_NAME}/EtherCAT/pdo_types.h
+    include/${PROJECT_NAME}/EtherCAT/sdo_interface.h
+    include/${PROJECT_NAME}/EtherCAT/slave.h
     include/${PROJECT_NAME}/encoder/AbsoluteEncoder.h
     include/${PROJECT_NAME}/encoder/Encoder.h
     include/${PROJECT_NAME}/encoder/IncrementalEncoder.h
     include/${PROJECT_NAME}/error/error_type.h
     include/${PROJECT_NAME}/error/hardware_exception.h
     include/${PROJECT_NAME}/error/motion_error.h
-    src/EtherCAT/EthercatIO.cpp
     src/EtherCAT/EthercatMaster.cpp
-    src/EtherCAT/EthercatSDO.cpp
+    src/EtherCAT/pdo_interface.cpp
+    src/EtherCAT/sdo_interface.cpp
     src/HighVoltage.cpp
     src/IMotionCube.cpp
     src/IMotionCubeTargetState.cpp
@@ -110,13 +114,15 @@ if(CATKIN_ENABLE_TESTING)
         test/encoder/TestEncoder.cpp
         test/error/test_hardware_exception.cpp
         test/error/test_motion_error.cpp
-        test/mocks/MockAbsoluteEncoder.cpp
-        test/mocks/MockEncoder.cpp
-        test/mocks/MockIMotionCube.cpp
-        test/mocks/MockIncrementalEncoder.cpp
-        test/mocks/MockJoint.cpp
-        test/mocks/MockTemperatureGES.cpp
-        test/mocks/MockTemperatureSensor.cpp
+        test/mocks/MockAbsoluteEncoder.h
+        test/mocks/MockEncoder.h
+        test/mocks/MockIMotionCube.h
+        test/mocks/MockIncrementalEncoder.h
+        test/mocks/MockJoint.h
+        test/mocks/MockPdoInterface.h
+        test/mocks/MockSdoInterface.h
+        test/mocks/MockSlave.h
+        test/mocks/MockTemperatureGES.h
     )
     target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${PROJECT_NAME})
 

march_hardware/include/march_hardware/EtherCAT/EthercatIO.h

@@ -0,0 +1,98 @@
+#ifndef MARCH_HARDWARE_PDO_INTERFACE_H
+#define MARCH_HARDWARE_PDO_INTERFACE_H
+#include "pdo_types.h"
+
+#include <cstdint>
+#include <memory>
+#include <utility>
+
+namespace march
+{
+/**
+ * An interface to read and write Process Data Objects (PDOs).
+ */
+class PdoInterface
+{
+public:
+  virtual void write8(uint16_t slave_index, uint8_t module_index, bit8 value) = 0;
+  virtual void write16(uint16_t slave_index, uint8_t module_index, bit16 value) = 0;
+  virtual void write32(uint16_t slave_index, uint8_t module_index, bit32 value) = 0;
+
+  virtual bit8 read8(uint16_t slave_index, uint8_t module_index) const = 0;
+  virtual bit16 read16(uint16_t slave_index, uint8_t module_index) const = 0;
+  virtual bit32 read32(uint16_t slave_index, uint8_t module_index) const = 0;
+};
+
+/**
+ * Shared pointer to an PdoInterface.
+ */
+using PdoInterfacePtr = std::shared_ptr<PdoInterface>;
+
+/**
+ * An interface to read and write Process Data Objects (PDOs) for a given slave.
+ */
+class PdoSlaveInterface
+{
+public:
+  PdoSlaveInterface(uint16_t slave_index, PdoInterfacePtr pdo) : slave_index_(slave_index), pdo_(pdo)
+  {
+  }
+
+  virtual ~PdoSlaveInterface() noexcept = default;
+
+  void write8(uint8_t module_index, bit8 value)
+  {
+    this->pdo_->write8(this->slave_index_, module_index, value);
+  }
+  void write16(uint8_t module_index, bit16 value)
+  {
+    this->pdo_->write16(this->slave_index_, module_index, value);
+  }
+  void write32(uint8_t module_index, bit32 value)
+  {
+    this->pdo_->write32(this->slave_index_, module_index, value);
+  }
+
+  bit8 read8(uint8_t module_index) const
+  {
+    return this->pdo_->read8(this->slave_index_, module_index);
+  }
+  bit16 read16(uint8_t module_index) const
+  {
+    return this->pdo_->read16(this->slave_index_, module_index);
+  }
+  bit32 read32(uint8_t module_index) const
+  {
+    return this->pdo_->read32(this->slave_index_, module_index);
+  }
+
+private:
+  const uint16_t slave_index_;
+  PdoInterfacePtr pdo_;
+};
+
+/**
+ * An implementation of the PdoInterface using SOEM.
+ */
+class PdoInterfaceImpl : public PdoInterface
+{
+public:
+  /**
+   * Creates a new shared PdoInterfaceImpl.
+   * @return Generic PdoInterface shared ptr
+   */
+  static PdoInterfacePtr create()
+  {
+    return std::make_shared<PdoInterfaceImpl>();
+  }
+
+  void write8(uint16_t slave_index, uint8_t module_index, bit8 value) override;
+  void write16(uint16_t slave_index, uint8_t module_index, bit16 value) override;
+  void write32(uint16_t slave_index, uint8_t module_index, bit32 value) override;
+
+  bit8 read8(uint16_t slave_index, uint8_t module_index) const override;
+  bit16 read16(uint16_t slave_index, uint8_t module_index) const override;
+  bit32 read32(uint16_t slave_index, uint8_t module_index) const override;
+};
+}  // namespace march
+#endif  // MARCH_HARDWARE_PDO_INTERFACE_H

march_hardware/include/march_hardware/EtherCAT/EthercatSDO.h

@@ -0,0 +1,50 @@
+// Copyright 2019 Project March.
+#ifndef MARCH_HARDWARE_ETHERCAT_PDO_TYPES_H
+#define MARCH_HARDWARE_ETHERCAT_PDO_TYPES_H
+#include <cstdint>
+
+namespace march
+{
+// struct used to easily get specific bytes from a 32 bit variable
+struct packed_bit32
+{
+  uint8_t b0;
+  uint8_t b1;
+  uint8_t b2;
+  uint8_t b3;
+};
+
+// union used for int32, uint32 and float
+union bit32
+{
+  int32_t i;
+  uint32_t ui;
+  float f;
+  packed_bit32 p;
+};
+
+// struct used to easily get specific bytes from a 16 bit variable
+struct packed_bit16
+{
+  uint8_t b0;
+  uint8_t b1;
+};
+
+// union used for int16 and uint16 in combination with the above struct
+union bit16
+{
+  int16_t i;
+  uint16_t ui;
+  packed_bit16 p;
+};
+
+// union used for int8 and uint8 in combination with the above struct, uint8_t is used to read single byte
+// unbiased
+union bit8
+{
+  int8_t i;
+  uint8_t ui;
+  uint8_t b0;
+};
+}  // namespace march
+#endif  // MARCH_HARDWARE_ETHERCAT_PDO_TYPES_H