Lely core libraries
2.3.4
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The abstract driver interface for a logical device on a remote CANopen node. More...
#include <driver.hpp>
Public Member Functions | |
virtual int | Number () const noexcept=0 |
Returns the number of the logical device on the remote node. | |
virtual SdoFuture< void > | AsyncConfig ()=0 |
Asynchronously updates the logical device type and, on success, queues the DriverBase::OnConfig() method and creates a future which becomes ready once the configuration process completes. | |
virtual SdoFuture< void > | AsyncDeconfig ()=0 |
Queues the DriverBase::OnDeconfig() method and creates a future which becomes ready once the deconfiguration process completes. | |
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virtual ev::Executor | GetExecutor () const noexcept=0 |
Returns the executor used to execute event handlers for this driver, including SDO confirmation functions. | |
virtual uint8_t | netid () const noexcept=0 |
Returns the network-ID. | |
virtual uint8_t | id () const noexcept=0 |
Returns the node-ID. | |
virtual void | OnCanState (io::CanState new_state, io::CanState old_state) noexcept=0 |
The function invoked when a CAN bus state change is detected. More... | |
virtual void | OnCanError (io::CanError error) noexcept=0 |
The function invoked when an error is detected on the CAN bus. More... | |
virtual void | OnCommand (NmtCommand cs) noexcept=0 |
The function invoked when an NMT state change occurs on the master. More... | |
virtual void | OnHeartbeat (bool occurred) noexcept=0 |
The function invoked when a heartbeat timeout event occurs or is resolved for the remote node. More... | |
virtual void | OnState (NmtState st) noexcept=0 |
The function invoked when an NMT state change or boot-up event is detected for the remote node by the heartbeat protocol. More... | |
virtual void | OnSync (uint8_t cnt, const time_point &t) noexcept=0 |
The function invoked when a SYNC message is sent/received by the master. More... | |
virtual void | OnSyncError (uint16_t eec, uint8_t er) noexcept=0 |
The function invoked when the data length of a received SYNC message does not match. More... | |
virtual void | OnTime (const ::std::chrono::system_clock::time_point &abs_time) noexcept=0 |
The function invoked when a TIME message is received by the master. More... | |
virtual void | OnEmcy (uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept=0 |
The function invoked when an EMCY message is received from the remote node. More... | |
virtual void | OnNodeGuarding (bool occurred) noexcept=0 |
The function invoked when a node guarding timeout event occurs or is resolved for the remote node. More... | |
virtual void | OnBoot (NmtState st, char es, const ::std::string &what) noexcept=0 |
The function invoked when the NMT 'boot slave' process completes for the remote node. More... | |
virtual void | OnConfig (::std::function< void(::std::error_code ec)> res) noexcept=0 |
The function invoked when the 'update configuration' step is reached during the NMT 'boot slave' process of the remote node. More... | |
virtual void | OnDeconfig (::std::function< void(::std::error_code ec)> res) noexcept=0 |
The function invoked by BasicMaster::AsyncDeconfig() to start the deconfiguration process. More... | |
The abstract driver interface for a logical device on a remote CANopen node.
Definition at line 258 of file driver.hpp.