Hello Community, after some further testing we were able to find a functioning example-code which uses this interface in the ctrlX Data Layer, to read out EtherCAT CoE SDO parameters from C++. Some changes to the code from my earlier post above where necessary: /* global defined stuff (see: sample-cpp/datalayer.client)
comm::datalayer::DlResult _result;
comm::datalayer::Variant _data;
comm::datalayer::IClient *_client = datalayerSystem.factory()->createClient(connectionString);
*/
//actual communication with the DL interface: "fieldbuses/ethercat/master/instances/ethercatmaster/device_access/coe/sdo"
flatbuffers::FlatBufferBuilder builder;
builder.ForceDefaults(true);
//build SDORequest
auto requestSDO = comm::ethercat::master::fbs::CreateSDORequest(builder,
comm::ethercat::master::fbs::Addresstype::Addresstype_fixedphysical,
1001,
12403,
1,
comm::ethercat::master::fbs::SDOFlags::SDOFlags_noFlags,
0,
65535
);
builder.Finish(requestSDO);
//Build SDOResponse
std::vector<uint8_t> data;
data.resize(2);
auto responseData = builder.CreateVector<uint8_t>(data);
auto responseSDO = comm::ethercat::master::fbs::CreateSDOResponse(builder, responseData);
builder.Finish(responseSDO);
//Build SDO
auto sdo = comm::ethercat::master::fbs::CreateSDO(builder, requestSDO, responseSDO);
builder.Finish(sdo);
//share Flatbuffer to Variant
_result = _data.shareFlatbuffers(builder);
std::cout<<"_data.shareFlatbuffers(builder) "<< _result.toString()<<std::endl;
//use a data layer client to do the actual reading
_result =_client->readSync("fieldbuses/ethercat/master/instances/ethercatmaster/device_access/coe/sdo", &_data);
std::cout<<"_client->readSync(.../coe/sdo) "<< _result.toString()<<std::endl;
if(_result == comm::datalayer::DlResult::DL_OK){
_result = _data.verifyFlatbuffers(comm::ethercat::master::fbs::VerifySDOBuffer);
std::cout<<"verifyFlatbuffers: "<<_result.toString()<<std::endl;
if (_result == comm::datalayer::DlResult::DL_OK){
auto buffer = _data.getData();
auto sdoValue = comm::ethercat::master::fbs::GetSDO(buffer);
auto sdoValueResponse = sdoValue->response();
auto sdoValueResponseData = sdoValueResponse->data();
auto length = sdoValueResponseData->Length();
for(uint32_t i = 0; i<length; i++){
std::cout<<"Response Data Byte" << i <<": "<<int(sdoValueResponseData->Get(i))<<std::endl;
}
}
} Like before I tested it with a IndraDrive connected to my ctrlX CORE via EtherCAT CoE. The output in the console is: _data.shareFlatbuffers(builder) DL_OK
_client->readSync(...) DL_OK
verifyFlatbuffers: DL_OK
Response Data Byte0: 1
Response Data Byte1: 96 Please let me know if this sample code can help you with your solution. Sorry for any inconvenience caused. We are working on improving the interfaces and the description of the interfaces. Best regards, Nick
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