基于区块链的毕业设计IHMC EtherCAT Master – IHMC EtherCAT主机

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IHMC EtherCAT Master

This package provides a lightweight java wrapper around SOEM (https://github.com/OpenEtherCATsociety/SOEM) and provides an Object Orientated interface to the EtherCAT master.

Extra functionality built on top of SOEM includes

  • Automatic configuration of PDO’s
  • EtherCAT slave state management
  • Thread synchronization with DC Master Clock

Usage

Supported operating systems

The IHMC EtherCAT master has a native component that is currently compiled for Linux only.

  • Tested on Ubuntu 16.04 and Ubuntu 18.04
  • Requires OpenJDK JRE 8 or higher (Compatible JRE’s should work).
  • Native library is compiled statically, should work on most distributions

Gradle

Add the IHMC EtherCAT Master as dependency

repositories {     maven {         url  "http://dl.bintray.com/ihmcrobotics/maven-release"     } } 	 dependencies { 	compile group: 'us.ihmc', name: 'ihmc-ethercat-master', version: '0.11.2' } 

Examples

Example code is provided in us.ihmc.etherCAT.examples.

Supported slaves

All conforming EtherCAT slaves should work with this wrapper. Slave code has been provided for several devices, including

  • Beckhoff EK1100
  • Beckhoff EL3314
  • Beckhoff EL4134
  • Elmo Twitter

General slave code provided

  • DSP402 statemachine

Custom slave code is straightforward to implement based on provided slave examples.

Slave information

To show the slaves available on the bus the provided class us.ihmc.etherCAT.master.SlaveInfo can be used.

License

Copyright 2016 Florida Institute for Human and Machine Cognition (IHMC)

Licensed under the Apache License, Version 2.0 (the “License”); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0 

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Compiling

This library is split up in two parts, the C library with SWIG wrapper and the actual Java library. They need to be compiled independently. SOEM needs to be compiled with position independent code enabled, otherwise a shared JNI library cannot be build.

Installing SOEM

The Halodi Robotics PPA has a debian package of SOEM that is compatible with this library. Install it using

sudo add-apt-repository ppa:halodirobotics/ppa sudo apt update sudo apt install soem 

(Optional, not recommended) Compiling SOEM

Clone SOEM from https://github.com/OpenEtherCATsociety/SOEM

  • git clone https://github.com/OpenEtherCATsociety/SOEM.git

Optionally, use switch to the same version as used to compile the maven libraries

  • cd SOEM
  • git checkout 5b2c51b

A forked version of SOEM is used to enable some new features for Bootloader support. We’re working on merging it in upstream.

- git clone https://github.com/Halodi/SOEM.git - cd SOEM - git checkout feature/config_init_in_state 

Note that in order to build a shared JNI library, you have to enable position independent code for SOEM. Use the following commands to build and install the SOEM library

cd SOEM mkdir build cd build cmake -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=true -DCMAKE_BUILD_TYPE=Release .. make make install 

Compiling C library and SWIG wrapper

Requirements

  • CMake
  • OpenJDK 8
  • Swig 3.0.8 or higher.

A gradle wrapper is provided, optionally you can use your system gradle by replacing “./gradlew” with gradle.

  • cd ihmc-ethercat-master
  • mkdir build
  • cd build
  • cmake -DCMAKE_BUILD_TYPE=Release ..
  • make
  • ../gradlew publishToMavenLocal -Ptarget=JAVA
  • ../gradlew publishToMavenLocal -Ptarget=PLATFORM

Note that if you want to publish multiple platform libraries you only have to run target=JAVA on a single platform

Notes for Ubuntu 14.04

The compiled library support Ubuntu 16.04 and higher. If you want to compile for Ubuntu 14.04, these instructions might help.

Ubuntu 14.04 requires some extra packages that do not ship with it by default, including Java 8 and Swig 3.0.8. To install

  • sudo add-apt-repository ppa:openjdk-r/ppa
  • sudo apt-get update
  • sudo apt-get install openjdk-8-jdk
  • sudo update-alternatives –config java
  • sudo update-alternatives –config javac

Swig 3.0.8 can be installed using the 16.04 package. It can be downloaded from https://packages.ubuntu.com/xenial/amd64/swig3.0/download

Compiling Java library

  • cd ihmc-soem-wrapper
  • ./gradlew jar

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IHMC EtherCAT Master

这个包提供了一个围绕SOEM的轻量级java包装器(https://github.com/OpenEtherCATsociety/SOEM)并为EtherCAT主机提供面向对象的接口。

构建在SOEM之上的额外功能包括

  • PDO的自动配置在Ubuntu 16.04和ubuntu18.04上测试的管理
  • 与DC主时钟同步
  • 需要openjdkjre8或更高版本(兼容的JRE应该可以工作)。

用法

支持的操作系统

IHMC EtherCAT主机有一个本机组件,目前仅为Linux编译。

  • 本机库是静态编译的,应该适用于大多数发行版
  • Beckhoff EK1100
  • Beckhoff EL4134

示例

添加IHMC EtherCAT主机作为依赖项

repositories {     maven {         url  "http://dl.bintray.com/ihmcrobotics/maven-release"     } } 	 dependencies { 	compile group: 'us.ihmc', name: 'ihmc-ethercat-master', version: '0.11.2' } 

支持的从机

中提供了示例代码美国ihmc以太猫。示例。

许可证

所有符合要求的EtherCAT从属设备都应使用此包装。已经为多个设备提供了从代码,包括提供的通用从代码

  • Elmo-Twitter
  • DSP402状态机
  • git克隆https://github.com/OpenEtherCATsociety/SOEM.git
  • cd SOEM

基于所提供的从示例,自定义从代码很容易实现。

  • git结帐5b2c51b

显示总线上可用的从设备,即提供的类美国ihmc以太猫.主控SlaveInfo可以使用。

编译

版权所有2016佛罗里达人类和机器认知研究所(IHMC)

安装SOEM

根据Apache许可证2.0版(“许可证”)授权;除非符合许可证,否则您不得使用此文件。您可以在

获得许可证的副本,除非适用法律要求或书面同意,否则根据许可证分发的软件是按“原样”分发的,无任何明示或暗示的担保或条件。请参阅许可证,以了解在许可证下管理权限和限制的特定语言。

http://www.apache.org/licenses/LICENSE-2.0 

这个库分为两部分:带有SWIG包装器的C库和实际的Java库。它们需要独立编译。SOEM需要在启用位置独立代码的情况下编译,否则无法构建共享JNI库。

(可选,不推荐)编译SOEM

Halodi Robotics PPA有一个与此库兼容的debian SOEM包。使用https://github.com/OpenEtherCATsociety/SOEM

编译C库和SWIG包装器

或者,使用switch到与编译maven库相同的版本

sudo add-apt-repository ppa:halodirobotics/ppa sudo apt update sudo apt install soem 

要求

SOEM的分叉版本用于启用一些新特性以支持引导加载程序。我们正致力于在上游进行合并。

  • CMake

请注意,为了构建一个共享的JNI库,您必须为SOEM启用与位置无关的代码。使用以下命令来构建和安装SOEM库

  • OpenJDK 8
  • Swig 3.0.8或更高版本。

提供了一个gradle包装器,您可以选择使用系统gradle,方法是将“./gradlew”替换为gradle。

- git clone https://github.com/Halodi/SOEM.git - cd SOEM - git checkout feature/config_init_in_state 

注意,如果要发布多个平台库,只需在单个平台上运行target=JAVA,编译后的库支持ubuntu16.04及更高版本。如果你想为Ubuntu14.04编译,这些指令可能会有所帮助。

cd SOEM mkdir build cd build cmake -DHOST_INSTALL="" -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=true -DCMAKE_BUILD_TYPE=Release .. make make install 

编译Java库

基本cookies
始终激活
分析cookies
  • PDO的自动配置在Ubuntu 16.04和ubuntu18.04上测试的管理
  • 与DC主时钟同步
  • 需要openjdkjre8或更高版本(兼容的JRE应该可以工作)。
  • 本机库是静态编译的,应该适用于大多数发行版
  • Beckhoff EK1100
  • Beckhoff EL4134
  • Elmo-Twitter
  • DSP402状态机
  • git克隆https://github.com/OpenEtherCATsociety/SOEM.git
  • cd SOEM
  • git结帐5b2c51b
  • CMake
  • OpenJDK 8
  • Swig 3.0.8或更高版本。
  • cd ihmc ethercat主机版
  • mkdir build
  • cd构建
  • cmake-DCMAKE_build_TYPE=Release。。
  • 生成
  • 。/gradlew publishToMavenLocal-Ptarget=JAVA
  • 。/gradlew publishToMavenLocal-Ptarget=PLATFORM
  • sudo添加apt存储库ppa:openjdk-r/ppa
  • sudo apt get update
  • sudo apt get install openjdk-8-jdk
  • sudo更新替代方案——配置java
  • sudo更新备选方案——config javac
  • cd ihmc soem wrapper
  • /gradlew jar
  • 基本cookies

    • cd ihmc ethercat主机版
    • mkdir build
    • cd构建

    ubuntu14.04需要一些默认情况下不附带的额外包,包括java8和swig3.0.8。安装时,可使用16.04软件包安装Swig 3.0.8。它可以从https://packages.ubuntu.com/xenial/amd64/swig3.0/download

    • cmake-DCMAKE_build_TYPE=Release。。
    • 生成
    • 。/gradlew publishToMavenLocal-Ptarget=JAVA
    • 。/gradlew publishToMavenLocal-Ptarget=PLATFORM
    • sudo添加apt存储库ppa:openjdk-r/ppa
    • sudo apt get update
    • sudo apt get install openjdk-8-jdk

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    始终激活

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    • sudo更新替代方案——配置java
    • sudo更新备选方案——config javac
    • cd ihmc soem wrapper
    • /gradlew jar
    • sudo update-alternatives –config javac

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    分析cookies

    • cd ihmc-soem-wrapper
    • ./gradlew jar

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