Lely core libraries 2.3.4
lely::canopen::LogicalDriverBase Class Referenceabstract

The abstract driver interface for a logical device on a remote CANopen node. More...

#include <driver.hpp>

Inheritance diagram for lely::canopen::LogicalDriverBase:
Collaboration diagram for lely::canopen::LogicalDriverBase:

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.
 
- Public Member Functions inherited from lely::canopen::DriverBase
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...
 

Detailed Description

The abstract driver interface for a logical device on a remote CANopen node.

Definition at line 258 of file driver.hpp.


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