Fastcat: An Open-Source Library for Composable EtherCAT Control Systems

Robotic testbeds used for flight and research technology development are highly complicated electromechanical systems demanding large engineering effort to configure and manage safety-critical hardware. The software that interoperates with robotic testbeds needs to be robust yet flexible to accommodate rapidly changing testbed needs and other operational demands in a cost-efficient manner. The Jet Propulsion Laboratory (JPL) presents a new open-source C++ library called Fastcat for powerful and flexible EtherCAT device configuration for testbed and robotic applications. Fastcat implements a set of C drivers called `Just SOEM Drivers' built on the popular Simple Open EtherCAT Master library for a small, but highly tested set of supported EtherCAT devices. Fastcat offers a rich set of capabilities such as supporting an arbitrary number of EtherCAT Masters, a YAML input configuration file, and a visualization tool `Fcviz' to graph the bus topology using the open-source Graphiz library. Furthermore, a novel feature called `Fastcat Signals' can efficiently route data and commands between devices to compose self-contained closed loop control systems such as heaters or joint-torque controllers with zero added latency. Abstract device types like signal generators, functions, and PID controllers and offline versions of device hardware drivers allow for powerful composability, offline-only testing, and flexible hybrid partial online - offline bus topologies. The Fastcat core library is middleware agnostic, but ROS2 wrappers are developed for ease-of-use. This paper will describe design tradeoffs, an overview of the implementation of these capabilities, and early results from the first JPL Robotic testbed use.