move soem stack to stacks dir

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)

Makefile

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+include $(shell rospack find mk)/cmake_stack.mk

soem_beckhoff_drivers/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/orocos/plugins)
+
+#uncomment if you have defined messages
+rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+rosbuild_add_library(${PROJECT_NAME} src/soem_beckhoff_drivers.cpp 
+  src/soem_el1xxx.cpp src/soem_el2xxx.cpp src/soem_el4004.cpp 
+  src/soem_el4034.cpp src/soem_el4032.cpp src/soem_el3062.cpp
+  src/soem_el5101.cpp src/soem_el4038.cpp)
+
+#ros_generate_rtt_typekit()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

soem_beckhoff_drivers/Makefile

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+include $(shell rospack find mk)/cmake.mk

soem_beckhoff_drivers/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b soem_beckhoff_drivers is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

soem_beckhoff_drivers/manifest.xml

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+<package>
+  <description brief="soem_beckhoff_drivers">
+
+     soem_beckhoff_drivers contains drivers for the ethercat beckhoff modules to work together with the soem_master package, every module creates the necessary services, dataports and properties for its own functionality.
+
+  </description>
+  <author>Ruben Smits</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/soem_beckhoff_drivers</url>
+  <depend package="roscpp"/>
+  <depend package="soem_core"/>
+  <depend package="soem_master"/>
+  <depend package="rtt"/>
+  <export>
+    <cpp cflags="-I${prefix}/msg/cpp" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
+  </export>
+
+</package>
+
+

soem_beckhoff_drivers/msg/AnalogMsg.msg

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+float32[] values

soem_beckhoff_drivers/msg/DigitalMsg.msg

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+bool[] values

soem_beckhoff_drivers/msg/EncoderInMsg.msg

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+uint8 status
+uint16 value
+uint16 latch
+uint32 frequency
+uint16 period
+uint16 window

soem_beckhoff_drivers/msg/EncoderMsg.msg

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+uint16 value

soem_beckhoff_drivers/msg/EncoderOutMsg.msg

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+uint8 control
+uint16 outvalue

soem_beckhoff_drivers/msg/PSUMsg.msg

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+bool power_ok
+bool overload

soem_beckhoff_drivers/src/COE_config.h

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+#ifndef COE_CONFIG_H
+#define COE_CONFIG_H
+
+extern "C"{
+#include "ethercattype.h"
+#include "nicdrv.h"
+#include "ethercatbase.h"
+#include "ethercatmain.h"
+#include "ethercatconfig.h"
+#include "ethercatcoe.h"
+#include "ethercatdc.h"
+#include "ethercatprint.h"
+}
+
+
+ typedef struct{
+	      uint16   index;
+	      uint8    subindex;
+	      uint8    size;
+	      int      param;
+	      string   name;
+	      string   description;
+	  }parameter;
+
+
+#endif

soem_beckhoff_drivers/src/soem_beckhoff_drivers.cpp

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+#include <rtt/plugin/Plugin.hpp>
+
+extern "C" {
+bool loadRTTPlugin(RTT::TaskContext* c){
+  return true;
+}
+}

soem_beckhoff_drivers/src/soem_el1xxx.cpp

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+/*!
+* @author: Ruben Smits and Koen Buys
+* @description: Driver for Beckhoff EL1124 module, 4x5V digital inputs
+* @version: 9 April 2010 - 1.0
+* @license: LGPL (see Berlios - SOEM)
+*/
+#include "soem_el1xxx.h"
+#include <soem_master/soem_driver_factory.h>
+
+namespace soem_beckhoff_drivers{
+
+  SoemEL1xxx::SoemEL1xxx(ec_slavet* mem_loc): 
+    soem_master::SoemDriver(mem_loc),
+    port_(this->getName()+"_bits")
+  {
+    size_=mem_loc->Ibits;
+    service_->doc(std::string("Services for Beckhoff ")+std::string(datap_->name)+std::string(" Dig. Input module"));
+    service_->addOperation("isOn",&SoemEL1xxx::isOn,this).doc("Check if bit i is on").arg("i","bit nr");
+    service_->addOperation("isOff",&SoemEL1xxx::isOff,this).doc("Check if bit i is off").arg("i","bit nr");
+    service_->addOperation("readBit",&SoemEL1xxx::readBit,this).doc("Read value of bit i").arg("i","bit nr");
+    service_->addConstant("size",size_);
+    msg_.values.resize(size_);
+    //port_.doc("values of the bits");
+    port_.setDataSample(msg_);
+
+    //    port_.createPortObject("bits");
+  }
+
+  void SoemEL1xxx::addPortsToTaskContext(RTT::TaskContext* tc){
+    tc->ports()->addPort(port_);
+  }
+
+  bool SoemEL1xxx::isOn( unsigned int bit) const{
+    return readBit(bit);
+  }
+
+  bool SoemEL1xxx::isOff( unsigned int bit) const{
+    return !readBit(bit);
+  }
+
+  bool SoemEL1xxx::readBit( unsigned int bit) const{
+    if(bit<size_){
+      bits_= ((out_el1xxxt*)(datap_->inputs))->outbits;
+      return bits_[bit+datap_->Istartbit];
+    }
+    else{
+        //TODO: We should raise somekind of error here
+        return false;
+    }
+  }
+
+  void SoemEL1xxx::updatePorts(){
+    bits_= ((out_el1xxxt*)(datap_->inputs))->outbits;
+    for(unsigned int i=0;i<size_;i++)
+      msg_.values[i]=bits_[i];
+    port_.write(msg_);
+  }
+
+  /*    
+  unsigned int SoemEL1xxx::readSequence(unsigned int start_bit, unsigned int stop_bit) const{
+    if(start_bit<size_&&stop_bit<size_){
+      bits_=((out_el1xxxt*)(datap_->inputs))->outbits;
+      std::bitset<8> out_bits;
+      unsigned int j=0;
+      for(unsigned int i=start_bit;i<=stop_bit;i++)
+	out_bits.set(j,bits_[datap_->Istartbit+i]);
+      return out_bits.to_ulong();
+    }
+  }
+  */
+
+  namespace {
+    soem_master::SoemDriver* createSoemEL1xxx(ec_slavet* mem_loc){
+      return new SoemEL1xxx(mem_loc);
+    }
+    const bool registered1 = soem_master::SoemDriverFactory::Instance().registerDriver("EL1124",createSoemEL1xxx);
+    const bool registered2 = soem_master::SoemDriverFactory::Instance().registerDriver("EL1144",createSoemEL1xxx);
+    const bool registered3 = soem_master::SoemDriverFactory::Instance().registerDriver("EL1008",createSoemEL1xxx);
+  }
+}

soem_beckhoff_drivers/src/soem_el1xxx.h

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+#ifndef SOEM_EL1xxx_H
+#define SOEM_EL1xxx_H
+
+#include <soem_master/soem_driver.h>
+#include <soem_beckhoff_drivers/DigitalMsg.h>
+#include <rtt/Port.hpp>
+#include <bitset>
+
+namespace soem_beckhoff_drivers{
+
+  class SoemEL1xxx : public soem_master::SoemDriver
+  {
+
+    typedef struct PACKED
+    {
+      uint8 outbits;
+    } out_el1xxxt;
+
+  public:
+    SoemEL1xxx(ec_slavet* mem_loc);
+    ~SoemEL1xxx(){};
+
+    bool isOn( unsigned int bit = 0) const;
+    bool isOff( unsigned int bit = 0) const;
+    bool readBit( unsigned int bit = 0) const;
+
+    void addPortsToTaskContext(RTT::TaskContext* tc);
+    void updatePorts();
+
+
+  private:
+    unsigned int size_;
+    DigitalMsg msg_;
+    mutable std::bitset<8> bits_;
+    RTT::OutputPort<DigitalMsg> port_;
+};
+
+}
+#endif

soem_beckhoff_drivers/src/soem_el2xxx.cpp

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+#include "soem_el2xxx.h"
+#include <soem_master/soem_driver_factory.h>
+
+namespace soem_beckhoff_drivers{
+
+  SoemEL2xxx::SoemEL2xxx(ec_slavet* mem_loc): 
+    soem_master::SoemDriver(mem_loc),
+    port_(this->getName()+"_bits")
+  {
+    size_=mem_loc->Obits;
+    service_->doc(std::string("Services for Beckhoff ")+std::string(datap_->name)+std::string(" Dig. Output module"));
+
+    service_->addOperation("switchOn",&SoemEL2xxx::switchOn,this).doc("Switch bit i on").arg("i","bit nr");
+    service_->addOperation("switchOff",&SoemEL2xxx::switchOff,this).doc("Switch bit i off").arg("i","bit nr");
+    service_->addOperation("setBit",&SoemEL2xxx::setBit,this).doc("Set value of bit i to val").arg("i","bit nr").arg("val","new value for bit");
+    service_->addOperation("checkBit",&SoemEL2xxx::checkBit,this).doc("Check value of bit i").arg("i","bit nr");
+    service_->addConstant("size",size_);
+
+    msg_.values.resize(size_);
+
+    for(unsigned int i=0;i<size_;i++)
+            bits_.set(i+datap_->Ostartbit,0);
+          ((out_el2xxxt*)(datap_->outputs))->outbits=bits_.to_ulong();
+  }
+
+  void SoemEL2xxx::addPortsToTaskContext(RTT::TaskContext* tc){
+    tc->ports()->addPort(port_).doc("DigitalMsg containting the desired values of _all_ bits");
+  }
+
+  void SoemEL2xxx::updatePorts(){
+    if(port_.connected()){
+      if(port_.read(msg_)==RTT::NewData){
+	if(msg_.values.size()<size_){
+	  bits_=((out_el2xxxt*)(datap_->outputs))->outbits;
+	  for(unsigned int i=0;i<size_;i++)
+	    bits_.set(i+datap_->Ostartbit,msg_.values[i]);
+	  ((out_el2xxxt*)(datap_->outputs))->outbits=bits_.to_ulong();
+	}
+      }
+    }
+  }
+
+  void SoemEL2xxx::setBit(unsigned int bit,bool value){
+    if(bit<size_){
+      bits_=((out_el2xxxt*)(datap_->outputs))->outbits;
+      bits_.set(bit+datap_->Ostartbit,value);
+      ((out_el2xxxt*)(datap_->outputs))->outbits=bits_.to_ulong();
+    }
+  }
+
+  void SoemEL2xxx::switchOn(unsigned int n){
+    this->setBit(n,true);
+  }
+
+  void SoemEL2xxx::switchOff(unsigned int n){
+    this->setBit(n,false);
+  }
+  /*
+    void SoemEL2xxx::setSequence(unsigned int start_bit,unsigned int stop_bit,unsigned int value){
+    if(start_bit<size_&&stop_bit<size_){
+    bits_=((out_el2xxxt*)(datap_->outputs))->outbits;
+    std::bitset<8> in_bits(value);
+    for(unsigned int i=start_bit;i<=stop_bit;i++)
+    bits_.set(i+datap_->Ostartbit,in_bits[i]);
+    ((out_el2xxxt*)(datap_->outputs))->outbits=bits_.to_ulong();
+    }
+    }
+  */
+
+  bool SoemEL2xxx::checkBit(unsigned int bit)const{
+    if(bit<size_){
+      bits_=((out_el2xxxt*)(datap_->outputs))->outbits;
+      return bits_.test(bit+datap_->Ostartbit);
+    }
+    return false;
+  }
+  /*
+  unsigned int SoemEL2xxx::checkSequence(unsigned int start_bit,unsigned int stop_bit)const{
+    if(start_bit<size_&&stop_bit<size_){
+      bits_=((out_el2xxxt*)(datap_->outputs))->outbits;
+      std::bitset<8> out_bits;
+      unsigned int j=0;
+      for(unsigned int i=start_bit;i<=stop_bit;i++)
+	out_bits.set(j,bits_[datap_->Ostartbit+i]);
+      return out_bits.to_ulong();
+    }
+  }
+  */
+
+  namespace {
+    soem_master::SoemDriver* createSoemEL2xxx(ec_slavet* mem_loc){
+      return new SoemEL2xxx(mem_loc);
+    }
+    const bool registered0 = soem_master::SoemDriverFactory::Instance().registerDriver("EL2002",createSoemEL2xxx);
+    const bool registered1 = soem_master::SoemDriverFactory::Instance().registerDriver("EL2004",createSoemEL2xxx);
+    const bool registered2 = soem_master::SoemDriverFactory::Instance().registerDriver("EL2008",createSoemEL2xxx);
+    const bool registered3 = soem_master::SoemDriverFactory::Instance().registerDriver("EL2124",createSoemEL2xxx);
+  }
+}