About prachandabhanu

Hello, I am currently facing an issue while trying to control a Festo VTEM device via EtherCAT using the C++ SDK provided by Bosch Rexroth. Below is the code snippet I am using   #include <stdio.h> #include <map> #include <iostream> #include <chrono> #include <thread> #include <csignal> #include "comm/datalayer/datalayer.h" #include "comm/datalayer/datalayer_system.h" #include "comm/datalayer/memory_map_generated.h" static bool g_endProcess = false; static void signalHandler(int signal) { std::cout << "signal: " << signal << std::endl; g_endProcess = true; } int main(void) { comm::datalayer::DlResult result; comm::datalayer::Variant data; comm::datalayer::Variant dataIn; comm::datalayer::DatalayerSystem datalayer; datalayer.start(false); std::signal(SIGINT, signalHandler); // First we have to open the realtimememory, reading the whole outputs. uint8_t* outData; std::cout << "Opening some realtime memory" << std::endl; std::shared_ptr<comm::datalayer::IMemoryUser> output; result = datalayer.factory()->openMemory(output, "fieldbuses/ethercat/master/instances/VTEM/realtime_data/output"); if (comm::datalayer::STATUS_FAILED(result)) { std::cout << "Open the memory failed with: " << result.toString() << std::endl; } // We can read the Inputs to get a Start trigger for example uint8_t* inData; std::cout << "Opening some realtime memory" << std::endl; std::shared_ptr<comm::datalayer::IMemoryUser> input; result = datalayer.factory()->openMemory(input, "fieldbuses/ethercat/master/instances/VTEM/realtime_data/input"); if (comm::datalayer::STATUS_FAILED(result)) { std::cout << "Open the memory failed with: " << result.toString() << std::endl; } do { std::cout << "Try to get MemoryMap" << std::endl; std::this_thread::sleep_for(std::chrono::milliseconds(100)); result = output->getMemoryMap(data); std::cout << "Getting MemoryMap with: " << result.toString() << std::endl; } while (comm::datalayer::STATUS_FAILED(result) && !g_endProcess); return 0; }       I can successfully open the memory input and output; however, when I attempt to read, get a map, or begin access, I encounter errors such as DL_RT_NOTOPEN or DL_RT_NOVALIDDATA (I will provide more details on this soon). I have not initialized the Data Layer client as shown in the sample code provided in the SDK(https://github.com/boschrexroth/ctrlx-automation-sdk/tree/main/samples-cpp/datalayer.ecat.io). My reasons for not doing so are as follows: Since I am executing the program on the CtrlX Core, I believe it might not be necessary. Additionally, when I tried to add the client section, as shown in the sample code, I encountered the following error related to AppArmor when integrating with ROS2: AVC apparmor="DENIED" operation="mknod" profile="snap.ros2-vtem-datalayer-monitor.datalayerMonitor" name="/dev/shm/fastrtps_c50f8f0c6a04a86c" pid=65979 comm="datalayerMonito" requested_mask="c" denied_mask="c" fsuid=0 ouid=0 I would appreciate any guidance or suggestions on resolving these issues and whether initializing the client is necessary for my specific setup. Thank you for your assistance, and please let me know if you require any further information to help diagnose the problem.     ... View more