motion/ecmc_plugin_safety
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Valdiate bit index of ethercat entries

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sandst_a
2024-03-18 09:38:55 +01:00
parent a1b4ec01b8
commit 5d1ff4fc99
1 changed files with 11 additions and 0 deletions
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11
src/ecmcSS1SafetyGroup.cpp
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@@ -290,6 +290,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
throw std::runtime_error( "Safety: EtherCAT entry for rampdown I/O NULL.");
}
if(bitRampDown_ >= ecEntryRampDown_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for rampdown ethercat entry.");
}
// standstill
slave = ecMaster_->findSlave(slaveIdStandStill_);
if(!slave) {
@@ -301,6 +305,9 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
throw std::runtime_error( "Safety: EtherCAT entry for standstill I/O NULL.");
};
if(bitStandStill_ >= ecEntryStandstill_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for standstill ethercat entry.");
}
// Limit velo
if( limitMaxVeloEnable_ ) {
@@ -313,6 +320,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
if(!ecEntryLimitVelo_) {
throw std::runtime_error( "Safety: EtherCAT entry for limit velo I/O NULL.");
};
if(bitLimitVelo_ >= ecEntryLimitVelo_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for limit velo ethercat entry.");
}
}
dataSourcesLinked_ = 1;