Hi Santiago, On Thu, Feb 23, 2012 at 1:15 AM, Santiago Focke wrote: > Hi > > I've been trying to make some reconfigurations with the Orocos SOEM master > component and I saw that after doing it the component stopped working > correctly. This was caused because every time the component (re)configures > itself, it creates again all the slaves found in the network, and adds the > into the m_drivers vector. So, if I have one slave and configure 3 times my > master, there will be 3 different slave drivers in the vector for the same > slave. Also, when reconfiguring, it cannot add the service of the > last-created driver, and the first-created one will be pointing to some > region of memory that no longer corresponds to the slave image (in case > SOEM remaps in a different place). I'm thinking on using a class variable > (set by an operation of the master service) that will define if the master > makes the whole configuration (searching for slaves, mapping, etc..) or > just the slaves' parameter configuration, but I'd like to listen to better > options. > This problem has been troubling me too, I haven't had the time to implement a nice solution though. I think we should split up the current configuration into to different steps: * A configuration of the interface so we can talk to the EtherCAT device * Slave specific configuration On top of this I also would like to add some functions to the SoemDriver to change the operational mode per-slave instead of doing it for the entire stack at once during configuration/starting. > > > Regards, > > -- > Santiago > Ruben > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >