Added real32 (Beckhoff float) https://infosys.beckhoff.com/english.ph…

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ICube-Robotics · Jun 25, 2024 · 7dc0ccf · 7dc0ccf
1 parent 52be2c2
commit 7dc0ccf
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Showing 3 changed files with 8 additions and 2 deletions.
diff --git a/ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp b/ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp
@@ -25,7 +25,7 @@ size_t type2bytes(std::string type)
     return 1;
   } else if (type == "int16" || type == "uint16") {
     return 2;
-  } else if (type == "int32" || type == "uint32") {
+  } else if (type == "int32" || type == "uint32" || type == "float" || type == "real32") {
     return 4;
   } else if (type == "int64" || type == "uint64") {
     return 8;

diff --git a/ethercat_interface/include/ethercat_interface/ec_pdo_channel_manager.hpp b/ethercat_interface/include/ethercat_interface/ec_pdo_channel_manager.hpp
@@ -65,6 +65,8 @@ class EcPdoChannelManager
       last_value = static_cast<double>(EC_READ_U64(domain_address));
     } else if (data_type == "int64") {
       last_value = static_cast<double>(EC_READ_S64(domain_address));
+    } else if (data_type == "real32" || data_type == "float") {
+      last_value = static_cast<double>(EC_READ_REAL(domain_address));
     } else if (data_type == "bool") {
       last_value = (EC_READ_U8(domain_address) & data_mask) ? 1 : 0;
     } else {
@@ -92,6 +94,8 @@ class EcPdoChannelManager
       EC_WRITE_U64(domain_address, static_cast<uint64_t>(value));
     } else if (data_type == "int64") {
       EC_WRITE_S64(domain_address, static_cast<int64_t>(value));
+    } else if (data_type == "real32" || data_type == "float") {
+      EC_WRITE_REAL(domain_address, static_cast<float>(value));
     } else {
       buffer_ = EC_READ_U8(domain_address);
       if (popcount(data_mask) == 1) {

diff --git a/ethercat_interface/include/ethercat_interface/ec_sdo_manager.hpp b/ethercat_interface/include/ethercat_interface/ec_sdo_manager.hpp
@@ -51,6 +51,8 @@ class SdoConfigEntry
       EC_WRITE_U64(buffer, static_cast<uint64_t>(data));
     } else if (data_type == "int64") {
       EC_WRITE_S64(buffer, static_cast<int64_t>(data));
+    } else if (data_type == "real32" || data_type == "float") {
+      EC_WRITE_REAL(buffer, static_cast<float>(data));
     }
   }
 
@@ -105,7 +107,7 @@ class SdoConfigEntry
       return 1;
     } else if (type == "int16" || type == "uint16") {
       return 2;
-    } else if (type == "int32" || type == "uint32") {
+    } else if (type == "int32" || type == "uint32" || type == "float" || type == "real32") {
       return 4;
     } else if (type == "int64" || type == "uint64") {
       return 8;