Lely core libraries
2.2.5
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An asynchronous CANopen master. More...
#include <master.hpp>
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. | |
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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... | |
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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... | |
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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 |
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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... | |
Protected Member Functions | |
void | OnCanError (io::CanError error) noexcept override |
The default implementation queues a notification for 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 queues a notification for each registered driver. More... | |
void | OnRpdoWrite (uint8_t id, uint16_t idx, uint8_t subidx) noexcept override |
The default implementation queues a notification for the driver registered for node id. More... | |
void | OnCommand (NmtCommand cs) noexcept override |
The default implementation queues a notification for all registered drivers. More... | |
void | OnNodeGuarding (uint8_t id, bool occurred) noexcept override |
The default implementation queues a notification for all registered drivers. More... | |
void | OnHeartbeat (uint8_t id, bool occurred) noexcept override |
The default implementation queues a notification for the driver registered for node id. More... | |
void | OnState (uint8_t id, NmtState st) noexcept override |
The default implementation queues a notification for the driver registered for node id. More... | |
void | OnBoot (uint8_t id, NmtState st, char es, const ::std::string &what) noexcept override |
The default implementation queues a notification for the driver registered for node id. More... | |
void | OnConfig (uint8_t id) noexcept override |
The default implementation queues a notification for the driver registered for node id. More... | |
void | OnSync (uint8_t cnt, const time_point &t) noexcept override |
The default implementation queues a notification for all registered drivers. More... | |
void | OnSyncError (uint16_t eec, uint8_t er) noexcept override |
The default implementation queues a notification for all registered drivers. More... | |
void | OnTime (const ::std::chrono::system_clock::time_point &abs_time) noexcept override |
The default implementation queues a notification for all registered drivers. More... | |
void | OnEmcy (uint8_t id, uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept override |
The default implementation queues a notification for the driver registered for node id. More... | |
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void | IsReady (uint8_t id, bool ready) noexcept |
Marks a remote note as ready or not ready. More... | |
void | ConfigResult (uint8_t id, ::std::error_code ec) noexcept |
Reports the result of the 'update configuration' step to the NMT service. 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... | |
Sdo * | GetSdo (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... | |
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CANNet * | net () const noexcept |
Returns a pointer to the internal CAN network interface from <lely/can/net.hpp>. | |
void | SetTime () |
Updates the CAN network time. | |
CONMT * | nmt () 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... | |
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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... | |
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CODev * | dev () 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 | |
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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... | |
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TpdoEventMutex | tpdo_event_mutex |
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TpdoEventMutex | tpdo_event_mutex |
The mutex used to postpone the transmission of acyclic and event-driven PDOs. | |
An asynchronous CANopen master.
When a CANopen event occurs, this master queues a notification to (the executor of) each registered driver. The master itself does not block waiting for events to be handled.
Definition at line 1296 of file master.hpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for all registered drivers.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 416 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation invokes lely::canopen::Node::OnCanState() and queues a notification for each registered driver.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 424 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for the driver registered for node id.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 434 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for all registered drivers.
Unless the master enters the pre-operational or operational state, all ongoing and pending SDO requests are aborted.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 443 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for all registered drivers.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 454 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for the driver registered for node id.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 463 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for 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.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 472 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for the driver registered for node id.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 487 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for the driver registered for node id.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 497 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for all registered drivers.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 517 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for all registered drivers.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 525 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for all registered drivers.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 533 of file master.cpp.
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overrideprotectedvirtualnoexcept |
The default implementation queues a notification for the driver registered for node id.
Reimplemented from lely::canopen::BasicMaster.
Definition at line 542 of file master.cpp.
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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.
exec | the executor used to process I/O and CANopen events. If exec is a null pointer, the CAN channel executor is used. |
timer | the timer used for CANopen events. This timer MUST NOT be used for any other purpose. |
chan | a CAN channel. This channel MUST NOT be used for any other purpose. |
dcf_txt | the path of the text EDS or DCF containing the device description. |
dcf_bin | the 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. |
id | the node-ID (in the range [1..127, 255]). If id is 255 (unconfigured), the node-ID is obtained from the DCF. |
Definition at line 571 of file master.cpp.