Meeting 2023-07-14

• EtherCAT specific
  • Who should own the list of sensors? RT-Bus or should RT-Bus just collect pointers and pass it to the RT-Unit
    • Slaves owns a list of their specific sensors
    • They pass pointers to the sensors to the bus, the bus to the unit
  • Do we need an IO view for slaves specifically? (E.g., for Elmo to directly access bus operations etc.)
    • => SlaveBusAccessor
• It should be possible to disable slaves => the unit will get a set of sensors and actors that is available
  1. Controllers will be instantiated via a config file
  2. If sensors or actors are not available, the controller will be instantiated, but in an error/disabled state
  3. Controllers in error/disabled state cannot be used (will throw if control targets are set), but queried for their state etc.
  4. N-Joint controllers using disabled 1-joint controllers will also be in error/disabled state
• Design Prototype for rt_to_non_rt_sinks
• We need to transition from high-level design discussions to validation by code implementations
• Pascal & Christian: Continue implementation of Elmo to publish Actuator and Sensor
• Rainer: Incorporate feedback from the discussion into the design prototype

Next up:

• Discuss terms