Minimal EtherCAT master built on SOEM for CiA-402 devices. More...

#include <CiA402/EthercatManager.h>

Public Types
enum class	Error : int { NoError = 0 , InitFailed = -1 , NoSlavesFound = -2 , ConfigFailed = -3 , SlavesNotOp = -4 , AlreadyInitialized = -5 , NotInitialized = -6 , InvalidSlaveIndex = -7 , PdoExchangeFailed = -8 }
	Error codes returned by EthercatManager APIs. More...

Public Member Functions
	EthercatManager ()
	Construct the manager (no I/O started).

	~EthercatManager ()
	Destructor, stops background monitoring and releases resources.

	EthercatManager (const EthercatManager &)=delete

EthercatManager &	operator= (const EthercatManager &)=delete

Error	init (const std::string &ifname) noexcept
	Initialize the EtherCAT stack and configure slaves.

bool	isInitialized () const noexcept
	Whether the manager has been successfully initialized.

bool	isOperational () const noexcept
	Whether the ring is in OPERATIONAL state.

Error	sendReceive () noexcept
	Perform one cyclic send/receive exchange over the bus.

int	getWorkingCounter () const noexcept
	Last Working Counter (WKC) observed from the previous cycle.

int	getExpectedWorkingCounter () const noexcept

void	setPdoTimeoutUs (int usec) noexcept
	Set receive timeout for PDO exchange (microseconds). Default is EC_TIMEOUTRET from SOEM. Larger values can help on busy systems.

int	getPdoTimeoutUs () const noexcept
	Get current receive timeout for PDO exchange (microseconds).

const RxPDO *	getRxPDO (int slaveIndex) const noexcept
	Access the RxPDO (master→slave) buffer for a given slave.

RxPDO *	getRxPDO (int slaveIndex) noexcept

TxView	getTxView (int slaveIndex) const noexcept
	Obtain a typed, bounds-checked view over the TxPDO (slave→master).

template<typename T>
Error	readSDO (int slaveIndex, uint16_t idx, uint8_t subIdx, T &out) noexcept
	Read an SDO value from a slave (blocking call).

template<typename T>
Error	writeSDO (int slaveIndex, uint16_t idx, uint8_t subIdx, const T &value) noexcept
	Write an SDO value to a slave (blocking call).

std::string	getName (int slaveIndex) const noexcept
	Get the name of a slave device.

Error	enableDCSync0 (uint32_t cycleNs, int32_t shiftNs=0) noexcept
	Enable DC Sync0 for a slave.

Error	disableDCSync0 () noexcept
	Disable DC Sync0 for a slave.

void	dumpDiagnostics () noexcept
	Print quick diagnostics about bus/slave state and WKC. Call this when a PDO exchange fails to get immediate hints.

Error	goOperational () noexcept
	Transition all slaves to OPERATIONAL and start monitoring.

Error	goPreOp () noexcept
	Transition all slaves back to PRE-OP and stop monitoring.

Detailed Description

Minimal EtherCAT master built on SOEM for CiA-402 devices.

Responsibilities:

Discover and initialize the bus on a given network interface.
Configure PDO mappings (including safety/status signals such as STO/SBC).
Maintain the cyclic exchange (send/receive) of process data.
Expose convenient accessors for RxPDO (outputs) and TxView (inputs).
Provide helpers for SDO reads and diagnostic information (WKC).
Monitor errors in a background thread.

Notes:

SOEM uses 1-based slave indices; all methods follow that convention.
Pointers/views returned remain valid until re-initialization or shutdown.

Definition at line 163 of file EthercatManager.h.

Member Enumeration Documentation

◆ Error

enum class CiA402::EthercatManager::Error : int

strong

Error codes returned by EthercatManager APIs.

Enumerator
NoError	Operation completed successfully.
InitFailed	Bus/stack initialization failed.
NoSlavesFound	No EtherCAT slaves were discovered.
ConfigFailed	PDO/SDO configuration failed.
SlavesNotOp	Slaves did not reach OP state.
AlreadyInitialized	init() called more than once.
NotInitialized	Operation requires a prior successful init().
InvalidSlaveIndex	Provided slave index is out of range (1..ec_slavecount).
PdoExchangeFailed	Failed to exchange PDOs or read SDO.

Definition at line 169 of file EthercatManager.h.

Constructor & Destructor Documentation

◆ EthercatManager() [1/2]

EthercatManager::EthercatManager ( )

default

Construct the manager (no I/O started).

◆ ~EthercatManager()

EthercatManager::~EthercatManager ( )

Destructor, stops background monitoring and releases resources.

Definition at line 37 of file EthercatManager.cpp.

◆ EthercatManager() [2/2]

CiA402::EthercatManager::EthercatManager ( const EthercatManager & )

delete

Member Function Documentation

◆ disableDCSync0()

EthercatManager::Error EthercatManager::disableDCSync0 ( )

noexcept

Disable DC Sync0 for a slave.

Returns: Error::NoError on success; an error code otherwise.

Definition at line 759 of file EthercatManager.cpp.

◆ dumpDiagnostics()

void EthercatManager::dumpDiagnostics ( )

noexcept

Print quick diagnostics about bus/slave state and WKC. Call this when a PDO exchange fails to get immediate hints.

Definition at line 521 of file EthercatManager.cpp.

◆ enableDCSync0()

EthercatManager::Error EthercatManager::enableDCSync0	(	uint32_t	cycleNs,
		int32_t	shiftNs = 0 )

noexcept

Enable DC Sync0 for a slave.

Parameters

cycleNs	Sync cycle time in nanoseconds.
shiftNs	Sync phase shift in nanoseconds.

Returns: Error::NoError on success; an error code otherwise.

Definition at line 739 of file EthercatManager.cpp.

◆ getExpectedWorkingCounter()

int CiA402::EthercatManager::getExpectedWorkingCounter ( ) const

inlinenoexcept

Definition at line 223 of file EthercatManager.h.

◆ getName()

std::string EthercatManager::getName ( int slaveIndex ) const

noexcept

Get the name of a slave device.

Parameters

slaveIndex 1-based slave index.

Returns: Slave name as a string.

Definition at line 725 of file EthercatManager.cpp.

◆ getPdoTimeoutUs()

int CiA402::EthercatManager::getPdoTimeoutUs ( ) const

inlinenoexcept

Get current receive timeout for PDO exchange (microseconds).

Definition at line 240 of file EthercatManager.h.

◆ getRxPDO() [1/2]

const RxPDO * EthercatManager::getRxPDO ( int slaveIndex ) const

noexcept

Access the RxPDO (master→slave) buffer for a given slave.

Note: Pointer remains valid until re-initialization.

Definition at line 549 of file EthercatManager.cpp.

◆ getRxPDO() [2/2]

RxPDO * EthercatManager::getRxPDO ( int slaveIndex )

noexcept

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 554 of file EthercatManager.cpp.

◆ getTxView()

TxView EthercatManager::getTxView ( int slaveIndex ) const

noexcept

Obtain a typed, bounds-checked view over the TxPDO (slave→master).

Definition at line 559 of file EthercatManager.cpp.

◆ getWorkingCounter()

int CiA402::EthercatManager::getWorkingCounter ( ) const

inlinenoexcept

Last Working Counter (WKC) observed from the previous cycle.

Definition at line 218 of file EthercatManager.h.

◆ goOperational()

EthercatManager::Error EthercatManager::goOperational ( )

noexcept

Transition all slaves to OPERATIONAL and start monitoring.

Call this after init() and any SDO configuration reads, right before starting the cyclic control loop. It computes WKC expectations, caches pointers if needed, and launches the background state monitor.

Definition at line 437 of file EthercatManager.cpp.

◆ goPreOp()

EthercatManager::Error EthercatManager::goPreOp ( )

noexcept

Transition all slaves back to PRE-OP and stop monitoring.

Use this to temporarily drop out of OP for tests or reconfiguration. Leaves the manager initialized (SAFE-OP/PRE-OP), but not operational.

Definition at line 479 of file EthercatManager.cpp.

◆ init()

EthercatManager::Error EthercatManager::init ( const std::string & ifname )

noexcept

Initialize the EtherCAT stack and configure slaves.

Parameters

ifname Network interface name (e.g., "eth0").

Returns: Error::NoError on success, specific error otherwise.

Definition at line 239 of file EthercatManager.cpp.

◆ isInitialized()

bool CiA402::EthercatManager::isInitialized ( ) const

inlinenoexcept

Whether the manager has been successfully initialized.

Definition at line 198 of file EthercatManager.h.

◆ isOperational()

bool CiA402::EthercatManager::isOperational ( ) const

inlinenoexcept

Whether the ring is in OPERATIONAL state.

Definition at line 204 of file EthercatManager.h.

◆ operator=()

EthercatManager & CiA402::EthercatManager::operator= ( const EthercatManager & )

delete

◆ readSDO()

template<typename T>

EthercatManager::Error CiA402::EthercatManager::readSDO	(	int	slaveIndex,
		uint16_t	idx,
		uint8_t	subIdx,
		T &	out )

noexcept

Read an SDO value from a slave (blocking call).

Template Parameters

T	Trivially copyable integral type matching the object size.

Parameters

slaveIndex	1-based slave index.
idx	Object index (e.g., 0x6041).
subIdx	Object subindex.
out	Destination variable populated on success.

Returns: Error::NoError on success; an error code otherwise.

Definition at line 368 of file EthercatManager.h.

◆ sendReceive()

EthercatManager::Error EthercatManager::sendReceive ( )

noexcept

Perform one cyclic send/receive exchange over the bus.

Returns: Error::NoError on success; PdoExchangeFailed otherwise.

Definition at line 379 of file EthercatManager.cpp.

◆ setPdoTimeoutUs()

void CiA402::EthercatManager::setPdoTimeoutUs ( int usec )

inlinenoexcept

Set receive timeout for PDO exchange (microseconds). Default is EC_TIMEOUTRET from SOEM. Larger values can help on busy systems.

Definition at line 232 of file EthercatManager.h.

◆ writeSDO()

template<typename T>

EthercatManager::Error CiA402::EthercatManager::writeSDO	(	int	slaveIndex,
		uint16_t	idx,
		uint8_t	subIdx,
		const T &	value )

noexcept

Write an SDO value to a slave (blocking call).

Template Parameters

T	Trivially copyable integral type matching the object size.

Parameters

slaveIndex	1-based slave index.
idx	Object index (e.g., 0x6040).
subIdx	Object subindex.
value	Value to write.

Returns: Error::NoError on success; an error code otherwise.

Definition at line 392 of file EthercatManager.h.

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

src/CiA402/include/CiA402/EthercatManager.h
src/CiA402/src/EthercatManager.cpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Error

Constructor & Destructor Documentation

◆ EthercatManager() [1/2]

◆ ~EthercatManager()

◆ EthercatManager() [2/2]

Member Function Documentation

◆ disableDCSync0()

◆ dumpDiagnostics()

◆ enableDCSync0()

◆ getExpectedWorkingCounter()

◆ getName()

◆ getPdoTimeoutUs()

◆ getRxPDO() [1/2]

◆ getRxPDO() [2/2]

◆ getTxView()

◆ getWorkingCounter()

◆ goOperational()

◆ goPreOp()

◆ init()

◆ isInitialized()

◆ isOperational()

◆ operator=()

◆ readSDO()

◆ sendReceive()

◆ setPdoTimeoutUs()

◆ writeSDO()