Lely core libraries  2.2.5
lely::canopen::BasicMaster Class Reference

The CANopen master. More...

#include <master.hpp>

Inheritance diagram for lely::canopen::BasicMaster:
Collaboration diagram for lely::canopen::BasicMaster:

Data Structures

class  ConstObject
 An accessor providing read-only access to a CANopen object in a local object dictionary. More...
 
class  ConstSubObject
 An accessor providing read-only access to a CANopen sub-object in a local object dictionary. More...
 
struct  Impl_
 The internal implementation of the CANopen master. More...
 
class  Object
 A mutator providing read/write access to a CANopen object in a local object dictionary. More...
 
class  RpdoMapped
 An accessor providing read-only access to TPDO-mapped objects in a remote object dictionary. More...
 
class  SubObject
 A mutator providing read/write access to a CANopen sub-object in a local object dictionary. More...
 
class  TpdoEventMutex
 
class  TpdoMapped
 A mutator providing read/write access to TPDO-mapped objects in a remote object dictionary. More...
 

Public Types

template<class T >
using ReadSignature = void(uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code ec, T value)
 The signature of the callback function invoked on completion of an asynchronous read (SDO upload) operation from a remote object dictionary. More...
 
using WriteSignature = void(uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code ec)
 The signature of the callback function invoked on completion of an asynchronous write (SDO download) operation to a remote object dictionary. More...
 

Public Member Functions

 BasicMaster (ev_exec_t *exec, io::TimerBase &timer, io::CanChannelBase &chan, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
 Creates a new CANopen master. More...
 
 BasicMaster (io::TimerBase &timer, io::CanChannelBase &chan, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
 Creates a new CANopen master.
 
Object operator[] (::std::ptrdiff_t idx) noexcept
 Returns a mutator object that provides read/write access to the specified CANopen object in the local object dictionary. More...
 
ConstObject operator[] (::std::ptrdiff_t idx) const noexcept
 Returns an accessor object that provides read-only access to the specified CANopen object in the local object dictionary. More...
 
RpdoMapped RpdoMapped (uint8_t id) const noexcept
 Returns an accessor object that provides read-only access to RPDO-mapped objects in the remote object dictionary of the specified node. More...
 
TpdoMapped TpdoMapped (uint8_t id) noexcept
 Returns a mutator object that provides read/write access to TPDO-mapped objects in the remote object dictionary of the specified node. More...
 
bool Boot (uint8_t id)
 Requests the NMT 'boot slave' process for the specified node. More...
 
bool IsReady (uint8_t id) const
 Returns true if the remote node is ready (i.e., the NMT 'boot slave' process has successfully completed and no subsequent boot-up event has been received) and false if not. More...
 
ev::Future< void > AsyncDeconfig (uint8_t id)
 Queues the DriverBase::OnDeconfig() method for the driver with the specified node-ID and creates a future which becomes ready once the deconfiguration process completes. More...
 
ev::Future<::std::size_t, void > AsyncDeconfig ()
 Queues the DriverBase::OnDeconfig() method for all registered drivers and creates a future which becomes ready once all deconfiguration processes complete. More...
 
void Error (uint8_t id)
 Indicates the occurrence of an error event on a remote node and triggers the error handling process (see Fig. More...
 
void Command (NmtCommand cs, uint8_t id=0)
 Issues an NMT command to a slave. More...
 
void RpdoRtr (int num=0) noexcept
 
void TpdoEvent (int num=0) noexcept
 
::std::chrono::milliseconds GetTimeout () const
 Returns the SDO timeout used during the NMT 'boot slave' and 'check configuration' processes. More...
 
void SetTimeout (const ::std::chrono::milliseconds &timeout)
 Sets the SDO timeout used during the NMT 'boot slave' and 'check configuration' processes. More...
 
template<class T >
void SubmitRead (uint8_t id, SdoUploadRequest< T > &req)
 Equivalent to SubmitRead(uint8_t id, SdoUploadRequest<T>& req, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.
 
template<class T >
void SubmitRead (uint8_t id, SdoUploadRequest< T > &req, ::std::error_code &ec)
 Queues an asynchronous read (SDO upload) operation. More...
 
template<class T , class F >
void SubmitRead (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, F &&con)
 Equivalent to SubmitRead(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, F&& con, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.
 
template<class T , class F >
void SubmitRead (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, F &&con, ::std::error_code &ec)
 Equivalent to SubmitRead(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by GetTimeout().
 
template<class T , class F >
void SubmitRead (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, F &&con, const ::std::chrono::milliseconds &timeout)
 Equivalent to SubmitRead(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.
 
template<class T , class F >
void SubmitRead (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, F &&con, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec)
 Queues an asynchronous read (SDO upload) operation. More...
 
template<class T >
void SubmitWrite (uint8_t id, SdoDownloadRequest< T > &req)
 Equivalent to SubmitWrite(uint8_t id, SdoDownloadRequest<T>& req, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.
 
template<class T >
void SubmitWrite (uint8_t id, SdoDownloadRequest< T > &req, ::std::error_code &ec)
 Queues an asynchronous write (SDO download) operation. More...
 
template<class T , class F >
void SubmitWrite (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value, F &&con)
 Equivalent to SubmitWrite(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, T&& value, F&& con, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.
 
template<class T , class F >
void SubmitWrite (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value, F &&con, ::std::error_code &ec)
 Equivalent to SubmitWrite(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, T&& value, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by GetTimeout().
 
template<class T , class F >
void SubmitWrite (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value, F &&con, const ::std::chrono::milliseconds &timeout)
 Equivalent to SubmitWrite(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, T&& value, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.
 
template<class T , class F >
void SubmitWrite (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value, F &&con, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec)
 Queues an asynchronous write (SDO download) operation. More...
 
template<class T >
SdoFuture< T > AsyncRead (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx)
 Equivalent to AsyncRead(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by GetTimeout().
 
template<class T >
SdoFuture< T > AsyncRead (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds &timeout)
 Queues an asynchronous read (SDO upload) operation and creates a future which becomes ready once the request completes (or is canceled). More...
 
template<class T >
SdoFuture< void > AsyncWrite (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value)
 Equivalent to AsyncWrite(ev_exec_t* exec, uint8_t id, uint16_t idx, uint8_t subidx, T&& value, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by GetTimeout().
 
template<class T >
SdoFuture< void > AsyncWrite (ev_exec_t *exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value, const ::std::chrono::milliseconds &timeout)
 Queues an asynchronous write (SDO download) operation and creates a future which becomes ready once the request completes (or is canceled). More...
 
void Insert (DriverBase &driver)
 Registers a driver for a remote CANopen node. More...
 
void Erase (DriverBase &driver)
 Unregisters a driver for a remote CANopen node. More...
 
void OnNodeGuarding (::std::function< void(uint8_t, bool)> on_node_guarding)
 Registers the function invoked when a node guarding timeout event occurs or is resolved. More...
 
void OnBoot (::std::function< void(uint8_t, NmtState, char, const ::std::string &)> on_boot)
 Registers the function invoked when the NMT 'boot slave' process completes. More...
 
- Public Member Functions inherited from lely::canopen::Node
 Node (ev_exec_t *exec, io::TimerBase &timer, io::CanChannelBase &chan, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
 Creates a new CANopen node. More...
 
 Node (io::TimerBase &timer, io::CanChannelBase &chan, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
 Creates a new CANopen node.
 
ev::Executor GetExecutor () const noexcept
 Returns the executor used to process I/O and CANopen events.
 
io::ContextBase GetContext () const noexcept
 Returns the underlying I/O context with which this context is registered.
 
io::Clock GetClock () const noexcept
 Returns the clock used by the timer.
 
void SubmitWait (const time_point &t, io_tqueue_wait &wait)
 Submits a wait operation. More...
 
void SubmitWait (const duration &d, io_tqueue_wait &wait)
 Submits a wait operation. More...
 
template<class F >
void SubmitWait (const time_point &t, ev_exec_t *exec, F &&f)
 Submits a wait operation. More...
 
template<class F >
void SubmitWait (const duration &d, ev_exec_t *exec, F &&f)
 Submits a wait operation. More...
 
template<class F >
typename ::std::enable_if<!::std::is_base_of< io_tqueue_wait, typename ::std::decay< F >::type >::value >::type SubmitWait (const time_point &t, F &&f)
 Equivalent to SubmitWait(t, nullptr, f).
 
template<class F >
typename ::std::enable_if<!::std::is_base_of< io_tqueue_wait, typename ::std::decay< F >::type >::value >::type SubmitWait (const duration &d, F &&f)
 Equivalent to SubmitWait(d, nullptr, f).
 
ev::Future< void, ::std::exception_ptr > AsyncWait (ev_exec_t *exec, const time_point &t, io_tqueue_wait **pwait=nullptr)
 Submits an asynchronous wait operation and creates a future which becomes ready once the wait operation completes (or is canceled). More...
 
ev::Future< void, ::std::exception_ptr > AsyncWait (ev_exec_t *exec, const duration &d, io_tqueue_wait **pwait=nullptr)
 Submits an asynchronous wait operation and creates a future which becomes ready once the wait operation completes (or is canceled). More...
 
ev::Future< void, ::std::exception_ptr > AsyncWait (const time_point &t, io_tqueue_wait **pwait=nullptr)
 Equivalent to AsyncWait(nullptr, t, pwait).
 
ev::Future< void, ::std::exception_ptr > AsyncWait (const duration &d, io_tqueue_wait **pwait=nullptr)
 Equivalent to AsyncWait(nullptr, d, pwait).
 
bool CancelWait (io_tqueue_wait &wait) noexcept
 Cancels the specified wait operation if it is pending. More...
 
bool AbortWait (io_tqueue_wait &wait) noexcept
 Aborts the specified wait operation if it is pending. More...
 
ev::Future< void, ::std::exception_ptr > AsyncSwitchBitrate (io::CanControllerBase &ctrl, int bitrate, ::std::chrono::milliseconds delay)
 Stops the specified CAN controller and submits asynchronous operations to wait for the delay period, set the new bit rate, wait for the delay period again, and restart the CAN controller. More...
 
void OnCanState (::std::function< void(io::CanState, io::CanState)> on_can_state)
 Registers the function to be invoked when a CAN bus state change is detected. More...
 
void OnCanError (::std::function< void(io::CanError)> on_can_error)
 Registers the function to be invoked when an error is detected on the CAN bus. More...
 
void Reset ()
 (Re)starts the node. More...
 
void ConfigHeartbeat (uint8_t id, const ::std::chrono::milliseconds &ms, ::std::error_code &ec)
 Configures heartbeat consumption for the specified node by updating CANopen object 1016 (Consumer heartbeat time). More...
 
void ConfigHeartbeat (uint8_t id, const ::std::chrono::milliseconds &ms)
 Configures heartbeat consumption for the specified node by updating CANopen object 1016 (Consumer heartbeat time). More...
 
void OnCommand (::std::function< void(NmtCommand)> on_command)
 Registers the function to be invoked when an NMT command is received from the master. More...
 
void OnHeartbeat (::std::function< void(uint8_t, bool)> on_heartbeat)
 Registers the function to be invoked when a heartbeat timeout event occurs or is resolved. More...
 
void OnState (::std::function< void(uint8_t, NmtState)> on_state)
 Registers the function to be invoked whenan NMT state change or boot-up event is detected for a remote node by the heartbeat protocol. More...
 
void OnRpdo (::std::function< void(int, ::std::error_code, const void *, ::std::size_t)> on_rpdo)
 Registers the function to be invoked when a Receive-PDO is processed. More...
 
void OnRpdoError (::std::function< void(int, uint16_t, uint8_t)> on_rpdo_error)
 Registers the function to be invoked when a Receive-PDO length mismatch or timeout error occurs. More...
 
void OnTpdo (::std::function< void(int, ::std::error_code, const void *, ::std::size_t)> on_tpdo)
 Registers the function to be invoked after a Transmit-PDO is sent or an error occurs. More...
 
void OnSync (::std::function< void(uint8_t, const time_point &)> on_sync)
 Registers the function to be invoked when a SYNC message is sent/received. More...
 
void OnSyncError (::std::function< void(uint16_t, uint8_t)> on_sync_error)
 Registers the function to be invoked when the data length of a received SYNC message does not match. More...
 
void OnTime (::std::function< void(const ::std::chrono::system_clock::time_point &)> on_time)
 Registers the function to be invoked when a TIME message is received. More...
 
void OnEmcy (::std::function< void(uint8_t, uint16_t, uint8_t, uint8_t[5])> on_emcy)
 Registers the function to be invoked when an EMCY message is received. More...
 
void OnSwitchBitrate (::std::function< void(int, ::std::chrono::milliseconds)> on_switch_bitrate)
 Registers the function to be invoked when the LSS master activates the bit rate of all CANopen devices in the network. More...
 
- Public Member Functions inherited from lely::io::CanNet
 CanNet (ev_exec_t *exec, io_timer_t *timer, io_can_chan_t *chan, ::std::size_t txlen=0, int txtimeo=0)
 
 CanNet (io_timer_t *timer, io_can_chan_t *chan, ::std::size_t txlen=0, int txtimeo=0)
 
virtual ~CanNet ()
 
void start () noexcept
 
ContextBase get_ctx () const noexcept
 
ev::Executor get_executor () const noexcept
 
Clock get_clock () const noexcept
 
- Public Member Functions inherited from lely::canopen::Device
 Device (const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff, util::BasicLockable *mutex=nullptr)
 Creates a new CANopen device description. More...
 
uint8_t netid () const noexcept
 Returns the network-ID.
 
uint8_t id () const noexcept
 Returns the node-ID.
 
template<class T >
typename ::std::enable_if< detail::is_canopen_type< T >::value, T >::type Read (uint16_t idx, uint8_t subidx) const
 Submits an SDO upload request to the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_type< T >::value, T >::type Read (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const
 Submits an SDO upload request to the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type Write (uint16_t idx, uint8_t subidx, T value)
 Submits an SDO download request to the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type Write (uint16_t idx, uint8_t subidx, T value, ::std::error_code &ec)
 Submits an SDO download request to the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_array< T >::value >::type Write (uint16_t idx, uint8_t subidx, const T &value)
 Submits an SDO download request to the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_array< T >::value >::type Write (uint16_t idx, uint8_t subidx, const T &value, ::std::error_code &ec)
 Submits an SDO download request to the local object dictionary. More...
 
void Write (uint16_t idx, uint8_t subidx, const char *value)
 Submits an SDO download request to the local object dictionary. More...
 
void Write (uint16_t idx, uint8_t subidx, const char *value, ::std::error_code &ec)
 Submits an SDO download request to the local object dictionary. More...
 
void Write (uint16_t idx, uint8_t subidx, const char16_t *value)
 Submits an SDO download request to the local object dictionary. More...
 
void Write (uint16_t idx, uint8_t subidx, const char16_t *value, ::std::error_code &ec)
 Submits an SDO download request to the local object dictionary. More...
 
void Write (uint16_t idx, uint8_t subidx, const void *p, ::std::size_t n)
 Submits an SDO download request to the local object dictionary. More...
 
void Write (uint16_t idx, uint8_t subidx, const void *p, ::std::size_t n, ::std::error_code &ec)
 Submits an SDO download request to the local object dictionary. More...
 
void WriteEvent (uint16_t idx, uint8_t subidx)
 Checks if the specified sub-object in the local object dictionary can be mapped into a PDO and, if so, triggers the transmission of every event-driven, asynchronous Transmit-PDO into which the sub-object is mapped. More...
 
void WriteEvent (uint16_t idx, uint8_t subidx, ::std::error_code &ec) noexcept
 Checks if the specified sub-object in the local object dictionary can be mapped into a PDO and, if so, triggers the transmission of every event-driven, asynchronous Transmit-PDO into which the sub-object is mapped. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type RpdoRead (uint8_t id, uint16_t idx, uint8_t subidx) const
 Reads the value of a sub-object in a remote object dictionary by submitting an SDO upload request to the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type RpdoRead (uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code &ec) const
 Reads the value of a sub-object in a remote object dictionary by submitting an SDO upload request to the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type TpdoRead (uint8_t id, uint16_t idx, uint8_t subidx) const
 Submits an SDO upload request to a TPDO-mapped sub-object in the local object dictionary, which reads the value that will be written to an RPDO-mapped sub-object in a remote object dictionary by a Transmit-PDO. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type TpdoRead (uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code &ec) const
 Submits an SDO upload request to a TPDO-mapped sub-object in the local object dictionary, which reads the value that will be written to an RPDO-mapped sub-object in a remote object dictionary by a Transmit-PDO. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type TpdoWrite (uint8_t id, uint16_t idx, uint8_t subidx, T value)
 Writes a value to a sub-object in a remote object dictionary by submitting an SDO download request to the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type TpdoWrite (uint8_t id, uint16_t idx, uint8_t subidx, T value, ::std::error_code &ec)
 Writes a value to a sub-object in a remote object dictionary by submitting an SDO download request to the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
void TpdoWriteEvent (uint8_t id, uint16_t idx, uint8_t subidx)
 Triggers the transmission of every event-driven, asynchronous Transmit-PDO which is mapped into the specified sub-object in a remote object dictionary. More...
 
void TpdoWriteEvent (uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code &ec) noexcept
 Triggers the transmission of every event-driven, asynchronous Transmit-PDO which is mapped into the specified sub-object in a remote object dictionary. More...
 

Data Fields

TpdoEventMutex tpdo_event_mutex
 

Protected Member Functions

void IsReady (uint8_t id, bool ready) noexcept
 Marks a remote note as ready or not ready. More...
 
void OnCanError (io::CanError error) noexcept override
 The default implementation notifies all registered drivers. More...
 
void OnCanState (io::CanState new_state, io::CanState old_state) noexcept override
 The default implementation invokes lely::canopen::Node::OnCanState() and notifies each registered driver. More...
 
void OnRpdoWrite (uint8_t id, uint16_t idx, uint8_t subidx) noexcept override
 The default implementation notifies the driver registered for node id. More...
 
void OnCommand (NmtCommand cs) noexcept override
 The default implementation notifies all registered drivers. More...
 
virtual void OnNodeGuarding (uint8_t id, bool occurred) noexcept
 The function invoked when a node guarding timeout event occurs or is resolved. More...
 
void OnHeartbeat (uint8_t id, bool occurred) noexcept override
 The default implementation notifies the driver registered for node id. More...
 
void OnState (uint8_t id, NmtState st) noexcept override
 The default implementation notifies the driver registered for node id. More...
 
virtual void OnBoot (uint8_t id, NmtState st, char es, const ::std::string &what) noexcept
 The function invoked when the NMT 'boot slave' process completes. More...
 
virtual void OnConfig (uint8_t id) noexcept
 The function invoked when the 'update configuration' step is reached during the NMT 'boot slave' process. More...
 
void ConfigResult (uint8_t id, ::std::error_code ec) noexcept
 Reports the result of the 'update configuration' step to the NMT service. More...
 
void OnSync (uint8_t cnt, const time_point &t) noexcept override
 The default implementation notifies all registered drivers. More...
 
void OnSyncError (uint16_t eec, uint8_t er) noexcept override
 The default implementation notifies all registered drivers. More...
 
void OnTime (const ::std::chrono::system_clock::time_point &abs_time) noexcept override
 The default implementation notifies all registered drivers. More...
 
void OnEmcy (uint8_t id, uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept override
 The default implementation notifies the driver registered for node id. More...
 
bool IsConfig (uint8_t id) const
 Returns true if the remote node is configuring (i.e., the 'update configuration' step of the NMT 'boot slave' is reached but not yet completed) and false if not. More...
 
SdoGetSdo (uint8_t id)
 Returns a pointer to the default client-SDO service for the given node. More...
 
void CancelSdo (uint8_t id=0)
 Aborts any ongoing or pending SDO requests for the specified slave. More...
 
- Protected Member Functions inherited from lely::canopen::Node
CANNetnet () const noexcept
 Returns a pointer to the internal CAN network interface from <lely/can/net.hpp>.
 
void SetTime ()
 Updates the CAN network time.
 
CONMTnmt () const noexcept
 Returns a pointer to the internal CANopen NMT master/slave service from <lely/co/nmt.hpp>.
 
void RpdoRtr (int num=0) noexcept
 Requests the transmission of a PDO by sending a CAN frame with the RTR (Remote Transmission Request) bit set. More...
 
void TpdoEvent (int num=0) noexcept
 Triggers the transmission of an acyclic or event-driven PDO. More...
 
void on_can_state (io::CanState new_state, io::CanState old_state) noexcept final
 The function invoked when a CAN bus state change is detected. More...
 
void on_can_error (io::CanError error) noexcept final
 The function invoked when an error is detected on the CAN bus. More...
 
virtual void OnRpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept
 The function invoked when a Receive-PDO is processed. More...
 
virtual void OnRpdoError (int num, uint16_t eec, uint8_t er) noexcept
 The function invoked when a Receive-PDO length mismatch or timeout error occurs. More...
 
virtual void OnTpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept
 The function invoked after a Transmit-PDO is sent or an error occurs. More...
 
virtual void OnSwitchBitrate (int bitrate, ::std::chrono::milliseconds delay) noexcept
 The function invoked when the LSS master activates the bit rate of all CANopen devices in the network. More...
 
virtual void OnStore (uint8_t id, int bitrate)
 The function invoked then a request is received from the LSS master to store the pending node-ID and bit rate to non-volatile memory. More...
 
- Protected Member Functions inherited from lely::io::CanNet
void lock () final
 Blocks until a lock can be obtained for the current execution agent (thread, process, task). More...
 
void unlock () final
 Releases the lock held by the execution agent. Throws no exceptions.
 
void set_time ()
 Updates the CAN network time. More...
 
virtual void on_read_error (::std::error_code ec, ::std::size_t errcnt) noexcept
 The function invoked when a new CAN frame read error occurs, or when a read operation completes successfully after one or more errors. More...
 
virtual void on_queue_error (::std::error_code ec, ::std::size_t errcnt) noexcept
 The function invoked when a CAN frame is dropped because the transmit queue is full, or when a frame is successfully queued after one or more errors. More...
 
virtual void on_write_error (::std::error_code ec, ::std::size_t errcnt) noexcept
 The function invoked when a new CAN frame write error occurs, or when a write operation completes successfully after one or more errors. More...
 
- Protected Member Functions inherited from lely::canopen::Device
CODevdev () const noexcept
 Returns a pointer to the internal CANopen device from <lely/co/dev.hpp>.
 
const ::std::type_info & Type (uint16_t idx, uint8_t subidx) const
 Returns the type of a sub-object. More...
 
const ::std::type_info & Type (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
 Returns the type of a sub-object. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_type< T >::value, T >::type Get (uint16_t idx, uint8_t subidx) const
 Reads the value of a sub-object. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_type< T >::value, T >::type Get (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
 Reads the value of a sub-object. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type Set (uint16_t idx, uint8_t subidx, T value)
 Writes a CANopen basic value to a sub-object. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type Set (uint16_t idx, uint8_t subidx, T value, ::std::error_code &ec) noexcept
 Writes a CANopen basic value to a sub-object. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_array< T >::value >::type Set (uint16_t idx, uint8_t subidx, const T &value)
 Writes a CANopen array value to a sub-object. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_array< T >::value >::type Set (uint16_t idx, uint8_t subidx, const T &value, ::std::error_code &ec) noexcept
 Writes a CANopen array value to a sub-object. More...
 
void Set (uint16_t idx, uint8_t subidx, const char *value)
 Writes a VISIBLE_STRING to a sub-object. More...
 
void Set (uint16_t idx, uint8_t subidx, const char *value, ::std::error_code &ec) noexcept
 Writes a VISIBLE_STRING to a sub-object. More...
 
void Set (uint16_t idx, uint8_t subidx, const char16_t *value)
 Writes a UNICODE_STRING to a sub-object. More...
 
void Set (uint16_t idx, uint8_t subidx, const char16_t *value, ::std::error_code &ec) noexcept
 Writes a UNICODE_STRING to a sub-object. More...
 
void Set (uint16_t idx, uint8_t subidx, const void *p, ::std::size_t n)
 Writes an OCTET_STRING or DOMAIN value to a sub-object. More...
 
void Set (uint16_t idx, uint8_t subidx, const void *p, ::std::size_t n, ::std::error_code &ec) noexcept
 Writes an OCTET_STRING or DOMAIN value to a sub-object. More...
 
const char * GetUploadFile (uint16_t idx, uint8_t subidx) const
 Returns the value of the UploadFile attribute of a sub-object, if present. More...
 
const char * GetUploadFile (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
 Returns the value of the UploadFile attribute of a sub-object, if present. More...
 
void SetUploadFile (uint16_t idx, uint8_t subidx, const char *filename)
 Sets the value of the UploadFile attribute of a sub-object, if present. More...
 
void SetUploadFile (uint16_t idx, uint8_t subidx, const char *filename, ::std::error_code &ec) noexcept
 Sets the value of the UploadFile attribute of a sub-object, if present. More...
 
const char * GetDownloadFile (uint16_t idx, uint8_t subidx) const
 Returns the value of the DownloadFile attribute of a sub-object, if present. More...
 
const char * GetDownloadFile (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
 Returns the value of the DownloadFile attribute of a sub-object, if present. More...
 
void SetDownloadFile (uint16_t idx, uint8_t subidx, const char *filename)
 Sets the value of the DownloadFile attribute of a sub-object, if present. More...
 
void SetDownloadFile (uint16_t idx, uint8_t subidx, const char *filename, ::std::error_code &ec) noexcept
 Sets the value of the DownloadFile attribute of a sub-object, if present. More...
 
void SetEvent (uint16_t idx, uint8_t subidx)
 Checks if the specified sub-object in the local object dictionary can be mapped into a PDO and, if so, triggers the transmission of every event-driven, asynchronous Transmit-PDO into which the sub-object is mapped. More...
 
void SetEvent (uint16_t idx, uint8_t subidx, ::std::error_code &ec) noexcept
 Checks if the specified sub-object in the local object dictionary can be mapped into a PDO and, if so, triggers the transmission of every event-driven, asynchronous Transmit-PDO into which the sub-object is mapped. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type RpdoGet (uint8_t id, uint16_t idx, uint8_t subidx) const
 Reads the value of a sub-object in a remote object dictionary by reading the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type RpdoGet (uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
 Reads the value of a sub-object in a remote object dictionary by reading the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type TpdoGet (uint8_t id, uint16_t idx, uint8_t subidx) const
 Reads the value of a TPDO-mapped sub-object in the local object dictionary that will be written to an RPDO-mapped sub-object in a remote object dictionary by a Transmit-PDO. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value, T >::type TpdoGet (uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
 Reads the value of a TPDO-mapped sub-object in the local object dictionary that will be written to an RPDO-mapped sub-object in a remote object dictionary by a Transmit-PDO. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type TpdoSet (uint8_t id, uint16_t idx, uint8_t subidx, T value)
 Writes a value to a sub-object in a remote object dictionary by writing to the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
template<class T >
typename ::std::enable_if< detail::is_canopen_basic< T >::value >::type TpdoSet (uint8_t id, uint16_t idx, uint8_t subidx, T value, ::std::error_code &ec) noexcept
 Writes a value to a sub-object in a remote object dictionary by writing to the corresponding PDO-mapped sub-object in the local object dictionary. More...
 
void TpdoSetEvent (uint8_t id, uint16_t idx, uint8_t subidx)
 Triggers the transmission of every event-driven, asynchronous Transmit-PDO which is mapped into the specified sub-object in a remote object dictionary. More...
 
void TpdoSetEvent (uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code &ec) noexcept
 Triggers the transmission of every event-driven, asynchronous Transmit-PDO which is mapped into the specified sub-object in a remote object dictionary. More...
 
void UpdateRpdoMapping ()
 Updates the mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects. More...
 
void UpdateTpdoMapping ()
 Updates the mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects. More...
 

Additional Inherited Members

- Protected Attributes inherited from lely::canopen::Node
TpdoEventMutex tpdo_event_mutex
 The mutex used to postpone the transmission of acyclic and event-driven PDOs.
 

Detailed Description

The CANopen master.

The master implements a CANopen node. Handling events for remote CANopen slaves is delegated to drivers (see lely::canopen::DriverBase and lely::canopen::BasicDriver), one of which can be registered for each node-ID.

For derived classes, the master behaves as an AssociativeContainer for drivers.

Definition at line 50 of file master.hpp.

Member Typedef Documentation

◆ ReadSignature

template<class T >
using lely::canopen::BasicMaster::ReadSignature = void(uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code ec, T value)

The signature of the callback function invoked on completion of an asynchronous read (SDO upload) operation from a remote object dictionary.

Note that the callback function SHOULD NOT throw exceptions. Since it is invoked from C, any exception that is thrown cannot be caught and will result in a call to std::terminate().

Parameters
idthe node-ID (in the range[1..127]).
idxthe object index.
subidxthe object sub-index.
ecthe SDO abort code (0 on success).
valuethe value received from the SDO server.

Definition at line 533 of file master.hpp.

◆ WriteSignature

using lely::canopen::BasicMaster::WriteSignature = void(uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code ec)

The signature of the callback function invoked on completion of an asynchronous write (SDO download) operation to a remote object dictionary.

Note that the callback function SHOULD NOT throw exceptions. Since it is invoked from C, any exception that is thrown cannot be caught and will result in a call to std::terminate().

Parameters
idthe node-ID (in the range[1..127]).
idxthe object index.
subidxthe object sub-index.
ecthe SDO abort code (0 on success).

Definition at line 548 of file master.hpp.

Constructor & Destructor Documentation

◆ BasicMaster()

lely::canopen::BasicMaster::BasicMaster ( ev_exec_t exec,
io::TimerBase timer,
io::CanChannelBase chan,
const ::std::string &  dcf_txt,
const ::std::string &  dcf_bin = "",
uint8_t  id = 0xff 
)
explicit

Creates a new CANopen master.

After creation, the master is in the NMT 'Initialisation' state and does not yet create any services or perform any communication. Call Reset() to start the boot-up process.

Parameters
execthe executor used to process I/O and CANopen events. If exec is a null pointer, the CAN channel executor is used.
timerthe timer used for CANopen events. This timer MUST NOT be used for any other purpose.
chana CAN channel. This channel MUST NOT be used for any other purpose.
dcf_txtthe path of the text EDS or DCF containing the device description.
dcf_binthe path of the (binary) concise DCF containing the values of (some of) the objets in the object dictionary. If dcf_bin is empty, no concise DCF is loaded.
idthe node-ID (in the range [1..127, 255]). If id is 255 (unconfigured), the node-ID is obtained from the DCF.

Definition at line 74 of file master.cpp.

Member Function Documentation

◆ operator[]() [1/2]

Object lely::canopen::BasicMaster::operator[] ( ::std::ptrdiff_t  idx)
inlinenoexcept

Returns a mutator object that provides read/write access to the specified CANopen object in the local object dictionary.

Note that this function succeeds even if the object does not exist.

Parameters
idxthe object index.
Returns
a mutator object for a CANopen object in the local object dictionary.

Definition at line 593 of file master.hpp.

◆ operator[]() [2/2]

ConstObject lely::canopen::BasicMaster::operator[] ( ::std::ptrdiff_t  idx) const
inlinenoexcept

Returns an accessor object that provides read-only access to the specified CANopen object in the local object dictionary.

Note that this function succeeds even if the object does not exist.

Parameters
idxthe object index.
Returns
an accessor object for a CANopen object in the local object dictionary.

Definition at line 605 of file master.hpp.

◆ RpdoMapped()

RpdoMapped lely::canopen::BasicMaster::RpdoMapped ( uint8_t  id) const
inlinenoexcept

Returns an accessor object that provides read-only access to RPDO-mapped objects in the remote object dictionary of the specified node.

Note that this function succeeds even if no RPDO-mapped objects exist.

Parameters
idthe node-ID.
Returns
an accessor object for RPDO-mapped objects in a remote object dictionary.

Definition at line 619 of file master.hpp.

◆ TpdoMapped()

TpdoMapped lely::canopen::BasicMaster::TpdoMapped ( uint8_t  id)
inlinenoexcept

Returns a mutator object that provides read/write access to TPDO-mapped objects in the remote object dictionary of the specified node.

Note that this function succeeds even if no TPDO-mapped objects exist.

Parameters
idthe node-ID.
Returns
a mutator object for TPDO-mapped objects in a remote object dictionary.

Definition at line 631 of file master.hpp.

◆ Boot()

bool lely::canopen::BasicMaster::Boot ( uint8_t  id)

Requests the NMT 'boot slave' process for the specified node.

OnBoot() is invoked once the boot-up process completes.

Definition at line 84 of file master.cpp.

◆ IsReady() [1/2]

bool lely::canopen::BasicMaster::IsReady ( uint8_t  id) const

Returns true if the remote node is ready (i.e., the NMT 'boot slave' process has successfully completed and no subsequent boot-up event has been received) and false if not.

Invoking AsyncDeconfig() will also mark a node as not ready.

If this function returns true, the default client-SDO service is available for the given node.

See also
IsConfig()

Definition at line 106 of file master.cpp.

◆ AsyncDeconfig() [1/2]

ev::Future< void > lely::canopen::BasicMaster::AsyncDeconfig ( uint8_t  id)

Queues the DriverBase::OnDeconfig() method for the driver with the specified node-ID and creates a future which becomes ready once the deconfiguration process completes.

Returns
a future which holds an error code on failure.
Postcondition
IsReady(id) returns false.

Definition at line 114 of file master.cpp.

◆ AsyncDeconfig() [2/2]

ev::Future<::std::size_t, void > lely::canopen::BasicMaster::AsyncDeconfig ( )

Queues the DriverBase::OnDeconfig() method for all registered drivers and creates a future which becomes ready once all deconfiguration processes complete.

Returns
a future which holds the number of deconfigured drivers.
Postcondition
IsReady() returns false for all remote nodes.

Definition at line 124 of file master.cpp.

◆ Error()

void lely::canopen::BasicMaster::Error ( uint8_t  id)

Indicates the occurrence of an error event on a remote node and triggers the error handling process (see Fig.

12 in CiA 302-2 v4.1.0). Note that depending on the value of objects 1F80 (NMT startup) and 1F81 (NMT slave assignment), the occurrence of an error event MAY trigger an NMT state transition of the entire network, including the master.

Parameters
idthe node-ID (in the range[1..127]).

Definition at line 139 of file master.cpp.

◆ Command()

void lely::canopen::BasicMaster::Command ( NmtCommand  cs,
uint8_t  id = 0 
)

Issues an NMT command to a slave.

Parameters
csthe NMT command specifier.
idthe node-ID (0 for all nodes, [1..127] for a specific slave).

Definition at line 153 of file master.cpp.

◆ RpdoRtr()

void lely::canopen::BasicMaster::RpdoRtr ( int  num = 0)
noexcept
See also
Node::RpdoRtr()

Definition at line 161 of file master.cpp.

◆ TpdoEvent()

void lely::canopen::BasicMaster::TpdoEvent ( int  num = 0)
noexcept
See also
Node::TpdoEvent()

Definition at line 168 of file master.cpp.

◆ GetTimeout()

std::chrono::milliseconds lely::canopen::BasicMaster::GetTimeout ( ) const

Returns the SDO timeout used during the NMT 'boot slave' and 'check configuration' processes.

See also
SetTimeout()

Definition at line 175 of file master.cpp.

◆ SetTimeout()

void lely::canopen::BasicMaster::SetTimeout ( const ::std::chrono::milliseconds &  timeout)

Sets the SDO timeout used during the NMT 'boot slave' and 'check configuration' processes.

See also
GetTimeout()

Definition at line 182 of file master.cpp.

◆ SubmitRead() [1/2]

template<class T >
void lely::canopen::BasicMaster::SubmitRead ( uint8_t  id,
SdoUploadRequest< T > &  req,
::std::error_code &  ec 
)
inline

Queues an asynchronous read (SDO upload) operation.

Parameters
idthe node-ID (in the range[1..127]).
reqthe SDO upload request.
ecthe error code (0 on success). ec == SdoErrc::NO_SDO if no client-SDO is available.

Definition at line 750 of file master.hpp.

◆ SubmitRead() [2/2]

template<class T , class F >
void lely::canopen::BasicMaster::SubmitRead ( ev_exec_t exec,
uint8_t  id,
uint16_t  idx,
uint8_t  subidx,
F &&  con,
const ::std::chrono::milliseconds &  timeout,
::std::error_code &  ec 
)
inline

Queues an asynchronous read (SDO upload) operation.

This function reads the value of a sub-object in a remote object dictionary.

Parameters
execthe executor used to execute the completion task.
idthe node-ID (in the range[1..127]).
idxthe object index.
subidxthe object sub-index.
conthe confirmation function to be called on completion of the SDO request.
timeoutthe SDO timeout. If, after the request is initiated, the timeout expires before receiving a response from the server, the client aborts the transfer with abort code SdoErrc::TIMEOUT.
ecthe error code (0 on success). ec == SdoErrc::NO_SDO if no client-SDO is available.

Definition at line 821 of file master.hpp.

◆ SubmitWrite() [1/2]

template<class T >
void lely::canopen::BasicMaster::SubmitWrite ( uint8_t  id,
SdoDownloadRequest< T > &  req,
::std::error_code &  ec 
)
inline

Queues an asynchronous write (SDO download) operation.

Parameters
idthe node-ID (in the range[1..127]).
reqthe SDO download request.
ecthe error code (0 on success). ec == SdoErrc::NO_SDO if no client-SDO is available.

Definition at line 859 of file master.hpp.

◆ SubmitWrite() [2/2]

template<class T , class F >
void lely::canopen::BasicMaster::SubmitWrite ( ev_exec_t exec,
uint8_t  id,
uint16_t  idx,
uint8_t  subidx,
T &&  value,
F &&  con,
const ::std::chrono::milliseconds &  timeout,
::std::error_code &  ec 
)
inline

Queues an asynchronous write (SDO download) operation.

This function writes a value to a sub-object in a remote object dictionary.

Parameters
execthe executor used to execute the completion task.
idthe node-ID (in the range[1..127]).
idxthe object index.
subidxthe object sub-index.
valuethe value to be written.
conthe confirmation function to be called on completion of the SDO request.
timeoutthe SDO timeout. If, after the request is initiated, the timeout expires before receiving a response from the server, the client aborts the transfer with abort code SdoErrc::TIMEOUT.
ecthe error code (0 on success). ec == SdoErrc::NO_SDO if no client-SDO is available.

Definition at line 933 of file master.hpp.

◆ AsyncRead()

template<class T >
SdoFuture<T> lely::canopen::BasicMaster::AsyncRead ( ev_exec_t exec,
uint8_t  id,
uint16_t  idx,
uint8_t  subidx,
const ::std::chrono::milliseconds &  timeout 
)
inline

Queues an asynchronous read (SDO upload) operation and creates a future which becomes ready once the request completes (or is canceled).

Parameters
execthe executor used to execute the completion task.
idthe node-ID (in the range[1..127]).
idxthe object index.
subidxthe object sub-index.
timeoutthe SDO timeout. If, after the request is initiated, the timeout expires before receiving a response from the server, the client aborts the transfer with abort code SdoErrc::TIMEOUT.
Returns
a future which holds the received value on success and the SDO error on failure.

Definition at line 978 of file master.hpp.

◆ AsyncWrite()

template<class T >
SdoFuture<void> lely::canopen::BasicMaster::AsyncWrite ( ev_exec_t exec,
uint8_t  id,
uint16_t  idx,
uint8_t  subidx,
T &&  value,
const ::std::chrono::milliseconds &  timeout 
)
inline

Queues an asynchronous write (SDO download) operation and creates a future which becomes ready once the request completes (or is canceled).

Parameters
execthe executor used to execute the completion task.
idthe node-ID (in the range[1..127]).
idxthe object index.
subidxthe object sub-index.
valuethe value to be written.
timeoutthe SDO timeout. If, after the request is initiated, the timeout expires before receiving a response from the server, the client aborts the transfer with abort code SdoErrc::TIMEOUT.
Returns
a future which holds the SDO error on failure.

Definition at line 1025 of file master.hpp.

◆ Insert()

void lely::canopen::BasicMaster::Insert ( DriverBase driver)

Registers a driver for a remote CANopen node.

If an event occurs for that node, or for the entire CANopen network, the corresponding method of the driver will be invoked.

Exceptions
std::out_of_rangeif the node-ID is invalid or already registered.
See also
Erase()

Definition at line 189 of file master.cpp.

◆ Erase()

void lely::canopen::BasicMaster::Erase ( DriverBase driver)

Unregisters a driver for a remote CANopen node.

See also
Insert()

Definition at line 206 of file master.cpp.

◆ OnNodeGuarding() [1/2]

void lely::canopen::BasicMaster::OnNodeGuarding ( ::std::function< void(uint8_t, bool)>  on_node_guarding)

Registers the function invoked when a node guarding timeout event occurs or is resolved.

Only a single function can be registered at any one time. If on_node_guarding contains a callable function target, a copy of the target is invoked after OnNodeGuarding(uint8_t, bool) completes.

Definition at line 218 of file master.cpp.

◆ OnBoot() [1/2]

void lely::canopen::BasicMaster::OnBoot ( ::std::function< void(uint8_t, NmtState, char, const ::std::string &)>  on_boot)

Registers the function invoked when the NMT 'boot slave' process completes.

Only a single function can be registered at any one time. If on_boot contains a callable function target, a copy of the target is invoked after OnBoot(uint8_t, NmtState, char, const ::std::string&) completes.

Definition at line 225 of file master.cpp.

◆ IsReady() [2/2]

void lely::canopen::BasicMaster::IsReady ( uint8_t  id,
bool  ready 
)
protectednoexcept

Marks a remote note as ready or not ready.

Postcondition
IsReady(id) returns ready.

Definition at line 233 of file master.cpp.

◆ OnCanError()

void lely::canopen::BasicMaster::OnCanError ( io::CanError  error)
overrideprotectedvirtualnoexcept

The default implementation notifies all registered drivers.

See also
Node::OnCanError(), DriverBase::OnCanError()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 238 of file master.cpp.

◆ OnCanState()

void lely::canopen::BasicMaster::OnCanState ( io::CanState  new_state,
io::CanState  old_state 
)
overrideprotectedvirtualnoexcept

The default implementation invokes lely::canopen::Node::OnCanState() and notifies each registered driver.

See also
Node::OnCanState(), DriverBase::OnCanState()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 246 of file master.cpp.

◆ OnRpdoWrite()

void lely::canopen::BasicMaster::OnRpdoWrite ( uint8_t  id,
uint16_t  idx,
uint8_t  subidx 
)
overrideprotectedvirtualnoexcept

The default implementation notifies the driver registered for node id.

See also
Device::OnRpdoWrite(), DriverBase::OnRpdoWrite()

Reimplemented from lely::canopen::Device.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 255 of file master.cpp.

◆ OnCommand()

void lely::canopen::BasicMaster::OnCommand ( NmtCommand  cs)
overrideprotectedvirtualnoexcept

The default implementation notifies all registered drivers.

Unless the master enters the pre-operational or operational state, all ongoing and pending SDO requests are aborted.

See also
Node::OnCommand(), DriverBase::OnCommand()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 264 of file master.cpp.

◆ OnNodeGuarding() [2/2]

void lely::canopen::BasicMaster::OnNodeGuarding ( uint8_t  id,
bool  occurred 
)
protectedvirtualnoexcept

The function invoked when a node guarding timeout event occurs or is resolved.

Note that depending on the value of object 1029:01 (Error behavior object), the occurrence of a node guarding event MAY trigger an NMT state transition. If so, this function is called after the state change completes.

The default implementation notifies the driver registered for node id.

Parameters
idthe node-ID (in the range [1..127]).
occurredtrue if the node guarding event occurred, false if it was resolved.
See also
DriverBase::OnNodeGuarding()

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 275 of file master.cpp.

◆ OnHeartbeat()

void lely::canopen::BasicMaster::OnHeartbeat ( uint8_t  id,
bool  occurred 
)
overrideprotectedvirtualnoexcept

The default implementation notifies the driver registered for node id.

See also
Node::OnHeartbeat(), DriverBase::OnHeartbeat()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 284 of file master.cpp.

◆ OnState()

void lely::canopen::BasicMaster::OnState ( uint8_t  id,
NmtState  st 
)
overrideprotectedvirtualnoexcept

The default implementation notifies the driver registered for node id.

If a boot-up event (st == NmtState::BOOTUP) is detected, any ongoing or pending SDO requests for the slave are aborted. This is necessary because the master MAY need the Client-SDO service for the NMT 'boot slave' process.

See also
Node::OnState(), DriverBase::OnState()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 293 of file master.cpp.

◆ OnBoot() [2/2]

void lely::canopen::BasicMaster::OnBoot ( uint8_t  id,
NmtState  st,
char  es,
const ::std::string &  what 
)
protectedvirtualnoexcept

The function invoked when the NMT 'boot slave' process completes.

The default implementation notifies the driver registered for node id.

Parameters
idthe node-ID (in the range [1..127]).
stthe state of the remote node (including the toggle bit (NmtState::TOGGLE) if node guarding is enabled).
esthe error status (in the range ['A'..'O'], or 0 on success):
  • 'A': The CANopen device is not listed in object 1F81.
  • 'B': No response received for upload request of object 1000.
  • 'C': Value of object 1000 from CANopen device is different to value in object 1F84 (Device type).
  • 'D': Value of object 1018:01 from CANopen device is different to value in object 1F85 (Vendor-ID).
  • 'E': Heartbeat event. No heartbeat message received from CANopen device.
  • 'F': Node guarding event. No confirmation for guarding request received from CANopen device.
  • 'G': Objects for program download are not configured or inconsistent.
  • 'H': Software update is required, but not allowed because of configuration or current status.
  • 'I': Software update is required, but program download failed.
  • 'J': Configuration download failed.
  • 'K': Heartbeat event during start error control service. No heartbeat message received from CANopen device during start error control service.
  • 'L': NMT slave was initially operational. (CANopen manager may resume operation with other CANopen devices)
  • 'M': Value of object 1018:02 from CANopen device is different to value in object 1F86 (Product code).
  • 'N': Value of object 1018:03 from CANopen device is different to value in object 1F87 (Revision number).
  • 'O': Value of object 1018:04 from CANopen device is different to value in object 1F88 (Serial number).
whatif es is non-zero, contains a string explaining the error.
See also
DriverBase::OnBoot()

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 308 of file master.cpp.

◆ OnConfig()

void lely::canopen::BasicMaster::OnConfig ( uint8_t  id)
protectedvirtualnoexcept

The function invoked when the 'update configuration' step is reached during the NMT 'boot slave' process.

The 'boot slave' process is halted until the result of the 'update configuration' step is communicated to the NMT service with ConfigResult().

The default implementation delegates the configuration update to the driver, if one is registered for node id. If not, a successful result is communicated to the NMT service.

See also
IsConfig(), DriverBase::OnConfig()

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 318 of file master.cpp.

◆ ConfigResult()

void lely::canopen::BasicMaster::ConfigResult ( uint8_t  id,
::std::error_code  ec 
)
protectednoexcept

Reports the result of the 'update configuration' step to the NMT service.

Parameters
idthe node-ID (in the range [1..127]).
ecthe SDO abort code (0 on success).

Definition at line 336 of file master.cpp.

◆ OnSync()

void lely::canopen::BasicMaster::OnSync ( uint8_t  cnt,
const time_point &  t 
)
overrideprotectedvirtualnoexcept

The default implementation notifies all registered drivers.

See also
Node::OnSync(), DriverBase::OnSync()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 347 of file master.cpp.

◆ OnSyncError()

void lely::canopen::BasicMaster::OnSyncError ( uint16_t  eec,
uint8_t  er 
)
overrideprotectedvirtualnoexcept

The default implementation notifies all registered drivers.

See also
Node::OnSyncError(), DriverBase::OnSyncError()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 355 of file master.cpp.

◆ OnTime()

void lely::canopen::BasicMaster::OnTime ( const ::std::chrono::system_clock::time_point &  abs_time)
overrideprotectedvirtualnoexcept

The default implementation notifies all registered drivers.

See also
Node::OnTime(), DriverBase::OnTime()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 363 of file master.cpp.

◆ OnEmcy()

void lely::canopen::BasicMaster::OnEmcy ( uint8_t  id,
uint16_t  eec,
uint8_t  er,
uint8_t  msef[5] 
)
overrideprotectedvirtualnoexcept

The default implementation notifies the driver registered for node id.

See also
Node::OnEmcy(), DriverBase::OnEmcy()

Reimplemented from lely::canopen::Node.

Reimplemented in lely::canopen::AsyncMaster.

Definition at line 372 of file master.cpp.

◆ IsConfig()

bool lely::canopen::BasicMaster::IsConfig ( uint8_t  id) const
protected

Returns true if the remote node is configuring (i.e., the 'update configuration' step of the NMT 'boot slave' is reached but not yet completed) and false if not.

If this function returns true, the default client-SDO service is available for the given node.

See also
IsReady(), OnConfig()

Definition at line 382 of file master.cpp.

◆ GetSdo()

Sdo * lely::canopen::BasicMaster::GetSdo ( uint8_t  id)
protected

Returns a pointer to the default client-SDO service for the given node.

If the master is not in the pre-operational or operational state, or if the master needs the client-SDO to boot the node, a null pointer is returned.

Definition at line 389 of file master.cpp.

◆ CancelSdo()

void lely::canopen::BasicMaster::CancelSdo ( uint8_t  id = 0)
protected

Aborts any ongoing or pending SDO requests for the specified slave.

Parameters
idthe node-ID (0 for all nodes, [1..127] for a specific slave).

Definition at line 408 of file master.cpp.

Field Documentation

◆ tpdo_event_mutex

TpdoEventMutex lely::canopen::BasicMaster::tpdo_event_mutex
See also
Node::tpdo_event_mutex

Definition at line 1079 of file master.hpp.


The documentation for this class was generated from the following files: