Lely core libraries 2.3.4
sync.hpp
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1
23#ifndef LELY_CO_SYNC_HPP_
24#define LELY_CO_SYNC_HPP_
25
26#if !defined(__cplusplus) || LELY_NO_CXX
27#error "include <lely/co/sync.h> for the C interface"
28#endif
29
30#include <lely/can/net.hpp>
31#include <lely/co/sync.h>
32
33namespace lely {
34
36template <>
38 typedef __co_sync value_type;
39 typedef value_type& reference;
40 typedef const value_type& const_reference;
41 typedef value_type* pointer;
42 typedef const value_type* const_pointer;
43
44 static void*
45 alloc() noexcept {
46 return __co_sync_alloc();
47 }
48
49 static void
50 free(void* ptr) noexcept {
51 __co_sync_free(ptr);
52 }
53
54 static pointer
55 init(pointer p, CANNet* net, CODev* dev) noexcept {
56 return __co_sync_init(p, net, dev);
57 }
58
59 static void
60 fini(pointer p) noexcept {
61 __co_sync_fini(p);
62 }
63};
64
66class COSync : public incomplete_c_type<__co_sync> {
68
69 public:
70 COSync(CANNet* net, CODev* dev) : c_base(net, dev) {}
71
72 int
73 start() noexcept {
74 return co_sync_start(this);
75 }
76
77 void
78 stop() noexcept {
79 co_sync_stop(this);
80 }
81
82 CANNet*
83 getNet() const noexcept {
84 return co_sync_get_net(this);
85 }
86
87 CODev*
88 getDev() const noexcept {
89 return co_sync_get_dev(this);
90 }
91
92 void
93 getInd(co_sync_ind_t** pind, void** pdata) const noexcept {
94 co_sync_get_ind(this, pind, pdata);
95 }
96
97 void
98 setInd(co_sync_ind_t* ind, void* data) noexcept {
99 co_sync_set_ind(this, ind, data);
100 }
101
102 template <class F>
103 void
104 setInd(F* f) noexcept {
105 setInd(&c_obj_call<co_sync_ind_t*, F>::function, static_cast<void*>(f));
106 }
107
108 template <class C, typename c_mem_fn<co_sync_ind_t*, C>::type M>
109 void
110 setInd(C* obj) noexcept {
112 static_cast<void*>(obj));
113 }
114
115 void
116 getErr(co_sync_err_t** perr, void** pdata) const noexcept {
117 co_sync_get_err(this, perr, pdata);
118 }
119
120 void
121 setErr(co_sync_err_t* err, void* data) noexcept {
122 co_sync_set_err(this, err, data);
123 }
124
125 template <class F>
126 void
127 setErr(F* f) noexcept {
128 setErr(&c_obj_call<co_sync_err_t*, F>::function, static_cast<void*>(f));
129 }
130
131 template <class C, typename c_mem_fn<co_sync_err_t*, C>::type M>
132 void
133 setErr(C* obj) noexcept {
135 static_cast<void*>(obj));
136 }
137
138 protected:
139 ~COSync() = default;
140};
141
142} // namespace lely
143
144#endif // !LELY_CO_SYNC_HPP_
An opaque CAN network interface type.
Definition: net.hpp:85
An opaque CANopen device type.
Definition: dev.hpp:77
An opaque CANopen SYNC producer/consumer service type.
Definition: sync.hpp:66
The base class for a C++ interface to an incomplete C type.
Definition: c_type.hpp:249
This header file is part of the CAN library; it contains the C++ interface of the CAN network interfa...
A CANopen SYNC producer/consumer service.
Definition: sync.c:40
A class template supplying a uniform interface to certain attributes of C types.
Definition: c_type.hpp:350
This header file is part of the CANopen library; it contains the synchronization (SYNC) object declar...
void co_sync_get_err(const co_sync_t *sync, co_sync_err_t **perr, void **pdata)
Retrieves the error handling function of a SYNC consumer service.
Definition: sync.c:360
void co_sync_err_t(co_sync_t *sync, co_unsigned16_t eec, co_unsigned8_t er, void *data)
The type of a CANopen SYNC error handling function, invoked when the SYNC data length does not match.
Definition: sync.h:60
co_dev_t * co_sync_get_dev(const co_sync_t *sync)
Returns a pointer to the CANopen device of a SYNC producer/consumer service.
Definition: sync.c:332
void co_sync_set_err(co_sync_t *sync, co_sync_err_t *err, void *data)
Sets the error handling function of a SYNC consumer service.
Definition: sync.c:371
void co_sync_set_ind(co_sync_t *sync, co_sync_ind_t *ind, void *data)
Sets the indication function invoked after a CANopen SYNC message is received or transmitted.
Definition: sync.c:351
void co_sync_ind_t(co_sync_t *sync, co_unsigned8_t cnt, void *data)
The type of a CANopen SYNC indication function, invoked after a SYNC message is received or transmitt...
Definition: sync.h:49
int co_sync_start(co_sync_t *sync)
Starts a SYNC service.
Definition: sync.c:248
void co_sync_stop(co_sync_t *sync)
Stops a SYNC service.
Definition: sync.c:285
void co_sync_get_ind(const co_sync_t *sync, co_sync_ind_t **pind, void **pdata)
Retrieves the indication function invoked after a CANopen SYNC message is received or transmitted.
Definition: sync.c:340
can_net_t * co_sync_get_net(const co_sync_t *sync)
Returns a pointer to the CAN network of a SYNC producer/consumer service.
Definition: sync.c:324