Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add a prefix to the EhtercatHardware diagnostics so that multiple nod… #130

Merged
merged 3 commits into from
Feb 6, 2025
Merged

Add a prefix to the EhtercatHardware diagnostics so that multiple nod… #130

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
409e7d2
Add a prefix to the EhtercatHardware diagnostics so that multiple nod…
toliver Jan 14, 2025
c2a0124
Fix copyright dates
toliver Feb 5, 2025
fcc8708
Fix style
toliver Feb 5, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions ros_ethercat_hardware/include/ros_ethercat_hardware/ethercat_hardware.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2025 Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down Expand Up @@ -199,6 +200,9 @@ class EthercatHardwareDiagnosticsPublisher
EthernetInterfaceInfo ethernet_interface_info_;
vector<diagnostic_msgs::KeyValue> values_;
diagnostic_updater::DiagnosticStatusWrapper status_;

// Prefix to add to the status.name for diagnostics
string diagnostics_name_prefix_;
};

class EthercatHardware
Expand Down
20 changes: 16 additions & 4 deletions ros_ethercat_hardware/src/ethercat_hardware.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2025 Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down Expand Up @@ -438,6 +439,19 @@ EthercatHardwareDiagnosticsPublisher::EthercatHardwareDiagnosticsPublisher(ros::
last_dropped_packet_count_(0),
last_dropped_packet_time_(0)
{
ros::NodeHandle n;
string node_namespace = n.getNamespace();
// Remove leading slash if not empty. This will leave the variable empty if the namespace is "/"
// (i.e. node not namespaced).
if (!node_namespace.empty() && node_namespace[0] == '/')
{
node_namespace.erase(0, 1);
}

if (!node_namespace.empty())
{
diagnostics_name_prefix_ = node_namespace + " ";
}
niko-holmes marked this conversation as resolved.
Show resolved Hide resolved
}

EthercatHardwareDiagnosticsPublisher::~EthercatHardwareDiagnosticsPublisher()
Expand Down Expand Up @@ -532,7 +546,7 @@ void EthercatHardwareDiagnosticsPublisher::publishDiagnostics()
status_.clearSummary();
status_.clear();

status_.name = "EtherCAT Master";
status_.name = diagnostics_name_prefix_ + "EtherCAT Master";
// if (diagnostics_.motors_halted_)
// {
// std::ostringstream desc;
Expand Down Expand Up @@ -1054,13 +1068,11 @@ void EthercatHardware::collectDiagnostics()
oob_com_->txandrx(&frame);

// Worry about locking for single value?
//diagnostics_.device_count_ = status.get_adp();

// diagnostics_.device_count_ = status.get_adp();
}

for (unsigned i = 0; i < slaves_.size(); ++i)
{

boost::shared_ptr<EthercatDevice> d(slaves_[i]);
d->collectDiagnostics(oob_com_);
}
Expand Down
2 changes: 1 addition & 1 deletion ros_ethercat_model/include/ros_ethercat_model/actuator_command_interface.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2020, Shadow Robot Company Ltd.
* Copyright (c) 2019-2020, 2025 Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down
6 changes: 3 additions & 3 deletions ros_ethercat_model/include/ros_ethercat_model/hardware_interface.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@

#include <string>
#include <vector>
//#include <ros_ethercat_model/actuator_command_interface.h>
// #include <ros_ethercat_model/actuator_command_interface.h>

#include <ros/ros.h>

Expand Down Expand Up @@ -68,7 +68,8 @@ typedef struct __attribute__((__packed__)) ActuatorOdometry
volatile uint32_t odo_2;
volatile uint32_t odo_3;
volatile uint32_t odo_4;
} ActuatorOdometry;
}
ActuatorOdometry;


class ActuatorState
Expand Down Expand Up @@ -127,7 +128,6 @@ class ActuatorState
double motor_voltage_; //!< Motor voltage (in volts)
ActuatorCommandMode command_type_; // switch between pwm and effort
ActuatorOdometry odometry_;

};

class ActuatorCommand
Expand Down
7 changes: 3 additions & 4 deletions ros_ethercat_model/include/ros_ethercat_model/imu_state.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Shadow Robot Company Ltd.
* Copyright (c) 2017, 2019, 2020, 2025 Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down Expand Up @@ -72,8 +72,8 @@ class ImuState
data_.linear_acceleration = linear_acceleration_;
data_.linear_acceleration_covariance = linear_acceleration_covariance_;
};
ImuState(){}
ImuState() {}

void initialiseToZero(void)
{
INIT_ARRAY(orientation_, 0.0);
Expand All @@ -83,7 +83,6 @@ class ImuState
INIT_ARRAY(angular_velocity_covariance_, 0.0);
INIT_ARRAY(linear_acceleration_covariance_, 0.0);
}

};
}; // namespace ros_ethercat_model

Expand Down
2 changes: 1 addition & 1 deletion ros_ethercat_model/include/ros_ethercat_model/robot_state.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Shadow Robot Company Ltd.
* Copyright (c) 2014-2019, 2024-2025 Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down
2 changes: 1 addition & 1 deletion ros_ethercat_model/include/ros_ethercat_model/ros_ethercat.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Shadow Robot Company Ltd.
* Copyright (c) 2014, 2016, 2017, 2019, 2022, 2025 Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
Expand Down
2 changes: 1 addition & 1 deletion ros_ethercat_model/launch/joint_state_publisher.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD License)
Copyright © 2022 belongs to Shadow Robot Company Ltd.
Copyright © 2014-2015, 2018-2023, 2025 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down