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Warning fixes #177

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2aa058a
multiple masters compatibility added
anubhav-dogra Jun 13, 2025
7aaf9c9
Fixed Warnings dufing colcon build
marafique Jul 3, 2025
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2 changes: 1 addition & 1 deletion ethercat_driver/include/ethercat_driver/ethercat_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ class EthercatDriver : public hardware_interface::SystemInterface
"ethercat_interface", "ethercat_interface::EcSlave"};

int control_frequency_;
ethercat_interface::EcMaster master_;
std::unique_ptr<ethercat_interface::EcMaster> master_;
std::mutex ec_mutex_;
bool activated_;
};
Expand Down
31 changes: 22 additions & 9 deletions ethercat_driver/src/ethercat_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,16 @@ CallbackReturn EthercatDriver::on_init(
const std::lock_guard<std::mutex> lock(ec_mutex_);
activated_ = false;

// Parse master_id from hardware parameters
int master_id = 0; // Default to 0 if not specified
if (info_.hardware_parameters.find("master_id") != info_.hardware_parameters.end()) {
master_id = std::stoi(info_.hardware_parameters["master_id"]);
}
RCLCPP_INFO(rclcpp::get_logger("EthercatDriver"), "Master ID: %d", master_id);

// Initialize master with the specified ID
master_ = std::make_unique<ethercat_interface::EcMaster>(master_id);

hw_joint_states_.resize(info_.joints.size());
for (uint j = 0; j < info_.joints.size(); j++) {
hw_joint_states_[j].resize(
Expand Down Expand Up @@ -282,10 +292,10 @@ CallbackReturn EthercatDriver::on_activate(

// start EC and wait until state operative

master_.setCtrlFrequency(control_frequency_);
master_->setCtrlFrequency(control_frequency_);

for (auto i = 0ul; i < ec_modules_.size(); i++) {
master_.addSlave(
master_->addSlave(
std::stod(ec_module_parameters_[i]["alias"]),
std::stod(ec_module_parameters_[i]["position"]),
ec_modules_[i].get());
Expand All @@ -295,7 +305,7 @@ CallbackReturn EthercatDriver::on_activate(
for (auto i = 0ul; i < ec_modules_.size(); i++) {
for (auto & sdo : ec_modules_[i]->sdo_config) {
uint32_t abort_code;
int ret = master_.configSlaveSdo(
int ret = master_->configSlaveSdo(
std::stod(ec_module_parameters_[i]["position"]),
sdo,
&abort_code
Expand All @@ -311,7 +321,7 @@ CallbackReturn EthercatDriver::on_activate(
}
}

if (!master_.activate()) {
if (!master_->activate()) {
RCLCPP_ERROR(rclcpp::get_logger("EthercatDriver"), "Activate EcMaster failed");
return CallbackReturn::ERROR;
}
Expand All @@ -328,7 +338,7 @@ CallbackReturn EthercatDriver::on_activate(
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);
// update EtherCAT bus

master_.update();
master_->update();
RCLCPP_INFO(rclcpp::get_logger("EthercatDriver"), "updated!");

// check if operational
Expand All @@ -340,7 +350,7 @@ CallbackReturn EthercatDriver::on_activate(
running = false;
}
// calculate next shot. carry over nanoseconds into microseconds.
t.tv_nsec += master_.getInterval();
t.tv_nsec += master_->getInterval();
while (t.tv_nsec >= 1000000000) {
t.tv_nsec -= 1000000000;
t.tv_sec++;
Expand All @@ -363,8 +373,11 @@ CallbackReturn EthercatDriver::on_deactivate(

RCLCPP_INFO(rclcpp::get_logger("EthercatDriver"), "Stopping ...please wait...");

// Clean up all modules before stopping the master
ec_modules_.clear();

// stop EC and disconnect
master_.stop();
master_->stop();

RCLCPP_INFO(
rclcpp::get_logger("EthercatDriver"), "System successfully stopped!");
Expand All @@ -379,7 +392,7 @@ hardware_interface::return_type EthercatDriver::read(
// try to lock so we can avoid blocking the read/write loop on the lock.
const std::unique_lock<std::mutex> lock(ec_mutex_, std::try_to_lock);
if (lock.owns_lock() && activated_) {
master_.readData();
master_->readData();
}
return hardware_interface::return_type::OK;
}
Expand All @@ -391,7 +404,7 @@ hardware_interface::return_type EthercatDriver::write(
// try to lock so we can avoid blocking the read/write loop on the lock.
const std::unique_lock<std::mutex> lock(ec_mutex_, std::try_to_lock);
if (lock.owns_lock() && activated_) {
master_.writeData();
master_->writeData();
}
return hardware_interface::return_type::OK;
}
Expand Down
17 changes: 10 additions & 7 deletions ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ size_t type2bytes(std::string type)
} else if (type == "int64" || type == "uint64") {
return 8;
}
return 0;
}

namespace ethercat_generic_plugins
Expand Down Expand Up @@ -67,20 +68,22 @@ void GenericEcSlave::setup_syncs()
if (sm_configs_.size() == 0) {
syncs_.push_back({0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE});
syncs_.push_back({1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE});
syncs_.push_back({2, EC_DIR_OUTPUT, rpdos_.size(), rpdos_.data(), EC_WD_ENABLE});
syncs_.push_back({3, EC_DIR_INPUT, tpdos_.size(), tpdos_.data(), EC_WD_DISABLE});
syncs_.push_back({2, EC_DIR_OUTPUT, static_cast<unsigned int>(rpdos_.size()), rpdos_.data(), EC_WD_ENABLE});
syncs_.push_back({3, EC_DIR_INPUT, static_cast<unsigned int>(tpdos_.size()), tpdos_.data(), EC_WD_DISABLE});
} else {
for (auto & sm : sm_configs_) {
if (sm.pdo_name == "null") {
syncs_.push_back({sm.index, sm.type, 0, NULL, sm.watchdog});
} else if (sm.pdo_name == "rpdo") {
syncs_.push_back({sm.index, sm.type, rpdos_.size(), rpdos_.data(), sm.watchdog});
syncs_.push_back({sm.index, sm.type, static_cast<unsigned int>(rpdos_.size()), rpdos_.data(), sm.watchdog});
} else if (sm.pdo_name == "tpdo") {
syncs_.push_back({sm.index, sm.type, tpdos_.size(), tpdos_.data(), sm.watchdog});
syncs_.push_back({sm.index, sm.type, static_cast<unsigned int>(tpdos_.size()), tpdos_.data(), sm.watchdog});
}
}
}
syncs_.push_back({0xff});
//syncs_.push_back({0xff});
syncs_.push_back(ec_sync_info_t{0xff, EC_DIR_INPUT, 0, nullptr, EC_WD_DISABLE});

}

bool GenericEcSlave::setupSlave(
Expand Down Expand Up @@ -173,7 +176,7 @@ bool GenericEcSlave::setup_from_config(YAML::Node slave_config)
rpdos_.push_back(
{
slave_config["rpdo"][i]["index"].as<uint16_t>(),
rpdo_channels_size,
static_cast<unsigned int>(rpdo_channels_size),
all_channels_.data() + channels_nbr
}
);
Expand All @@ -195,7 +198,7 @@ bool GenericEcSlave::setup_from_config(YAML::Node slave_config)
tpdos_.push_back(
{
slave_config["tpdo"][i]["index"].as<uint16_t>(),
tpdo_channels_size,
static_cast<unsigned int>(tpdo_channels_size),
all_channels_.data() + channels_nbr
}
);
Expand Down
2 changes: 1 addition & 1 deletion ethercat_interface/include/ethercat_interface/ec_master.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ class EcMaster
{
EcSlave * slave = NULL;
ec_slave_config_t * config = NULL;
ec_slave_config_state_t config_state = {0};
ec_slave_config_state_t config_state{};
};

std::vector<SlaveInfo> slave_info_;
Expand Down
1 change: 1 addition & 0 deletions ethercat_interface/include/ethercat_interface/ec_sdo_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ class SdoConfigEntry
} else if (type == "int64" || type == "uint64") {
return 8;
}
return 0;
}
};

Expand Down
12 changes: 6 additions & 6 deletions ethercat_interface/src/ec_master.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ EcMaster::DomainInfo::DomainInfo(ec_master_t * master)
return;
}

const ec_pdo_entry_reg_t empty = {0};
const ec_pdo_entry_reg_t empty{};
domain_regs.push_back(empty);
}

Expand All @@ -66,7 +66,7 @@ EcMaster::EcMaster(const int master)

EcMaster::~EcMaster()
{
for (SlaveInfo & slave : slave_info_) {
for ([[maybe_unused]] SlaveInfo & slave : slave_info_) {
//
}
for (auto & domain : domain_info_) {
Expand Down Expand Up @@ -211,7 +211,7 @@ void EcMaster::registerPDOInDomain(
}

// set the last element to null
ec_pdo_entry_reg_t empty = {0};
ec_pdo_entry_reg_t empty{};
domain_info->domain_regs.back() = empty;
}

Expand Down Expand Up @@ -441,9 +441,9 @@ void EcMaster::setThreadRealTime()
/* Pre-fault our stack
8*1024 is the maximum stack size
which is guaranteed safe to access without faulting */
int MAX_SAFE_STACK = 8 * 1024;
unsigned char dummy[MAX_SAFE_STACK];
memset(dummy, 0, MAX_SAFE_STACK);
constexpr int MAX_SAFE_STACK = 8 * 1024;
unsigned char dummy[MAX_SAFE_STACK]{};
//memset(dummy, 0, MAX_SAFE_STACK);
}

void EcMaster::checkDomainState(uint32_t domain)
Expand Down