Encoder calibration checker: compare live encoder readings against a reference TOML file. More...

#include <CheckEncoderCalibration/CheckEncoderCalibration.h>

Classes
class	Impl

Public Member Functions
	CheckEncoderCalibration ()
	Default constructor.

	~CheckEncoderCalibration ()
	Destructor.

bool	run (yarp::os::ResourceFinder &rf)
	Run the full encoder check and produce a Markdown report.

Detailed Description

Encoder calibration checker: compare live encoder readings against a reference TOML file.

This utility connects to all EtherCAT slaves on the specified network interface using SDO communication and reads back the current encoder positions (raw and adjusted) and resolutions for both encoder channels. It then compares these live values against a reference TOML file previously written by CiA402::StoreHome37 (store-home-position application) immediately after calibration.

The result is a human-readable Markdown report containing one table per slave, showing:

The reference value from the TOML file.
The current live value read from the drive.
The difference (delta) between the two.

This allows an operator to quickly verify whether the encoder state has drifted since the last calibration, without re-running the full homing procedure.

Note: Only SDO communication is used; the ring stays in SAFE-OP/PRE-OP throughout.; SOEM uses 1-based slave indices; the TOML file must follow the same convention (slave_1, slave_2, …).

Definition at line 36 of file CheckEncoderCalibration.h.

Constructor & Destructor Documentation

◆ CheckEncoderCalibration()

CheckEncoderCalibration::CheckEncoderCalibration ( )

Default constructor.

Allocates the internal implementation object. No EtherCAT communication is started.

Definition at line 401 of file CheckEncoderCalibration.cpp.

◆ ~CheckEncoderCalibration()

CheckEncoderCalibration::~CheckEncoderCalibration ( )

default

Destructor.

Releases all resources owned by the implementation. If the EtherCAT master was initialised, it is cleanly shut down.

Member Function Documentation

◆ run()

bool CheckEncoderCalibration::run ( yarp::os::ResourceFinder & rf )

Run the full encoder check and produce a Markdown report.

Reads configuration from the provided ResourceFinder, discovers all EtherCAT slaves on the specified network interface, reads each slave's encoder data, compares it against the reference TOML file, and writes a Markdown report to disk.

Parameters

rf	ResourceFinder populated with the parameters listed below.

Returns: true if the check completed successfully and the report was written; false on any error (initialisation failure, TOML parse error, SDO read failure, file I/O error).

Note

Expected keys in the ResourceFinder:

Key	Type	Description	Default
ifname	string	Network interface name (e.g. `"eth0"`)	`"eth0"`
toml-input	string	Path of the reference TOML file (from StoreHome37)	(required)
report-output	string	Path of the Markdown report to write	`"encoder_calibration_check_YYYY_MM_DD_HH_MM_SS.md"`

Definition at line 408 of file CheckEncoderCalibration.cpp.

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

utils/CheckEncoderCalibration/include/CheckEncoderCalibration/CheckEncoderCalibration.h
utils/CheckEncoderCalibration/src/CheckEncoderCalibration.cpp