Lely core libraries
2.3.4
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A CANopen driver running its own dedicated event loop in a separate thread. More...
#include <loop_driver.hpp>
Data Structures | |
struct | Impl_ |
The internal implementation of lely::canopen::LoopDriver. More... | |
Public Member Functions | |
LoopDriver (AsyncMaster &master, uint8_t id) | |
Creates a new CANopen driver and starts a new event loop in a separate thread to execute event handlers (and SDO confirmation functions). More... | |
~LoopDriver () | |
Stops the event loop and terminates the thread in which it was running before destroying the driver. More... | |
ev::Loop & | GetLoop () noexcept |
Returns a reference to the dedicated event loop of the driver. | |
ev::Executor | GetStrand () const noexcept |
Returns the strand executor associated with the event loop of the driver. | |
void | Join () |
Stops the dedicated event loop of the driver and waits until the thread running the event loop finishes its execution. More... | |
ev::Future< void, void > | AsyncStoppped () noexcept |
Returns a future which becomes ready once the dedicated event loop of the driver is stopped and the thread is (about to be) terminated. | |
template<class F , class... Args> | |
void | Defer (F &&f, Args &&... args) |
Schedules the specified Callable object for execution by the event loop for this driver. More... | |
template<class T > | |
T | Wait (SdoFuture< T > f) |
Waits for the specified future to become ready by running pending tasks on the dedicated event loop of the driver. More... | |
template<class T > | |
typename ::std::enable_if<!::std::is_void< T >::value, T >::type | Wait (SdoFuture< T > f, ::std::error_code &ec) |
Waits for the specified future to become ready by running pending tasks on the dedicated event loop of the driver. More... | |
void | Wait (SdoFuture< void > f, ::std::error_code &ec) |
Waits for the specified future to become ready by running pending tasks on the dedicated event loop of the driver. More... | |
void | USleep (uint_least64_t usec) |
Runs the event loop for usec microseconds. More... | |
void | USleep (uint_least64_t usec, ::std::error_code &ec) |
Runs the event loop for usec microseconds. More... | |
template<class T > | |
T | RunRead (uint16_t idx, uint8_t subidx) |
Equivalent to RunRead(uint16_t idx, uint8_t subidx, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error. | |
template<class T > | |
T | RunRead (uint16_t idx, uint8_t subidx, ::std::error_code &ec) |
Equivalent to RunRead(uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T > | |
T | RunRead (uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds &timeout) |
Equivalent to RunRead(uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error. | |
template<class T > | |
T | RunRead (uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec) |
Queues an asynchronous read (SDO upload) operation and runs the event loop until the operation is complete. More... | |
template<class T > | |
void | RunWrite (uint16_t idx, uint8_t subidx, T &&value) |
Equivalent to RunWrite(uint16_t idx, uint8_t subidx, T&& value, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error. | |
template<class T > | |
void | RunWrite (uint16_t idx, uint8_t subidx, T &&value, ::std::error_code &ec) |
Equivalent to RunWrite(uint16_t idx, uint8_t subidx, T&& value, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T > | |
void | RunWrite (uint16_t idx, uint8_t subidx, T &&value, const ::std::chrono::milliseconds &timeout) |
Equivalent to RunWrite(uint16_t idx, uint8_t subidx, T&& value, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error. | |
template<class T > | |
void | RunWrite (uint16_t idx, uint8_t subidx, T &&value, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec) |
Queues an asynchronous write (SDO download) operation and runs the event loop until the operation is complete. More... | |
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BasicDriver (ev_exec_t *exec, BasicMaster &master, uint8_t id) | |
Creates a new driver for a remote CANopen node and registers it with the master. More... | |
BasicDriver (BasicMaster &master, uint8_t id) | |
Creates a new driver for a remote CANopen node and registers it with the master. | |
ev::Executor | GetExecutor () const noexcept final |
Returns the executor used to execute event handlers for this driver, including SDO confirmation functions. | |
uint8_t | netid () const noexcept final |
Returns the network-ID. | |
uint8_t | id () const noexcept final |
Returns the node-ID. | |
void | ConfigHeartbeat (const ::std::chrono::milliseconds &ms, ::std::error_code &ec) |
Configures heartbeat consumption by updating CANopen object 1016 (Consumer heartbeat time). More... | |
void | ConfigHeartbeat (const ::std::chrono::milliseconds &ms) |
Configures heartbeat consumption by updating CANopen object 1016 (Consumer heartbeat time). More... | |
bool | Boot () |
Requests the NMT 'boot slave' process for the remote node. More... | |
bool | IsReady () 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... | |
void | Error () |
Indicates the occurrence of an error event on the remote node and triggers the error handling process. More... | |
template<class T > | |
void | DamMpdoEvent (int num, uint16_t idx, uint8_t subidx, T value) |
Triggers the transmission of a destination address mode multiplex PDO (DAM-MPDO). More... | |
template<class F > | |
void | SubmitWait (const time_point &t, F &&f) |
Submits a wait operation. More... | |
template<class F > | |
void | SubmitWait (const duration &d, F &&f) |
Submits a wait operation. More... | |
SdoFuture< void > | AsyncWait (const time_point &t) |
Submits an asynchronous wait operation and creates a future which becomes ready once the wait operation completes (or is canceled). More... | |
SdoFuture< void > | AsyncWait (const duration &d) |
Submits an asynchronous wait operation and creates a future which becomes ready once the wait operation completes (or is canceled). More... | |
template<class T , class F > | |
void | SubmitRead (uint16_t idx, uint8_t subidx, F &&con) |
Equivalent to SubmitRead(uint16_t idx, uint8_t subidx, F&& con, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitRead (uint16_t idx, uint8_t subidx, F &&con, ::std::error_code &ec) |
Equivalent to SubmitRead(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 lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitRead (uint16_t idx, uint8_t subidx, F &&con, const ::std::chrono::milliseconds &timeout) |
Equivalent to SubmitRead(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 (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 , class F > | |
void | SubmitBlockRead (uint16_t idx, uint8_t subidx, F &&con) |
Equivalent to SubmitBlockRead(uint16_t idx, uint8_t subidx, F&& con, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitBlockRead (uint16_t idx, uint8_t subidx, F &&con, ::std::error_code &ec) |
Equivalent to SubmitBlockRead(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 lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitBlockRead (uint16_t idx, uint8_t subidx, F &&con, const ::std::chrono::milliseconds &timeout) |
Equivalent to SubmitBlockRead(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 | SubmitBlockRead (uint16_t idx, uint8_t subidx, F &&con, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec) |
Queues an asynchronous read (SDO block upload) operation. More... | |
template<class T , class F > | |
void | SubmitWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con) |
Equivalent to SubmitWrite(uint16_t idx, uint8_t subidx, T&& value, F&& con, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con, ::std::error_code &ec) |
Equivalent to SubmitWrite(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 lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con, const ::std::chrono::milliseconds &timeout) |
Equivalent to SubmitWrite(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 (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 , class F > | |
void | SubmitBlockWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con) |
Equivalent to SubmitBlockWrite(uint16_t idx, uint8_t subidx, T&& value, F&& con, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitBlockWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con, ::std::error_code &ec) |
Equivalent to SubmitBlockWrite(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 lely::canopen::BasicMaster::GetTimeout(). | |
template<class T , class F > | |
void | SubmitBlockWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con, const ::std::chrono::milliseconds &timeout) |
Equivalent to SubmitBlockWrite(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 | SubmitBlockWrite (uint16_t idx, uint8_t subidx, T &&value, F &&con, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec) |
Queues an asynchronous write (SDO block download) operation. More... | |
template<class F > | |
void | SubmitWriteDcf (const uint8_t *begin, const uint8_t *end, F &&con) |
Equivalent to SubmitWriteDcf(const uint8_t* begin, const uint8_t* end, F&& con, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class F > | |
void | SubmitWriteDcf (const uint8_t *begin, const uint8_t *end, F &&con, ::std::error_code &ec) |
Equivalent to SubmitWriteDcf(const uint8_t* begin, const uint8_t* end, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class F > | |
void | SubmitWriteDcf (const uint8_t *begin, const uint8_t *end, F &&con, const ::std::chrono::milliseconds &timeout) |
Equivalent to SubmitWriteDcf(const uint8_t* begin, const uint8_t* end, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error. | |
template<class F > | |
void | SubmitWriteDcf (const uint8_t *begin, const uint8_t *end, F &&con, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec) |
Queues a series of asynchronous write (SDO download) operations. More... | |
template<class F > | |
void | SubmitWriteDcf (const char *path, F &&con) |
Equivalent to SubmitWriteDcf(const char* path, F&& con, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class F > | |
void | SubmitWriteDcf (const char *path, F &&con, ::std::error_code &ec) |
Equivalent to SubmitWriteDcf(const char* path, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class F > | |
void | SubmitWriteDcf (const char *path, F &&con, const ::std::chrono::milliseconds &timeout) |
Equivalent to SubmitWriteDcf(const char* path, F&& con, const ::std::chrono::milliseconds& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error. | |
template<class F > | |
void | SubmitWriteDcf (const char *path, F &&con, const ::std::chrono::milliseconds &timeout, ::std::error_code &ec) |
Queues a series of asynchronous write (SDO download) operations. More... | |
template<class T > | |
SdoFuture< T > | AsyncRead (uint16_t idx, uint8_t subidx) |
Equivalent to AsyncRead(uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T > | |
SdoFuture< T > | AsyncRead (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< T > | AsyncBlockRead (uint16_t idx, uint8_t subidx) |
Equivalent to AsyncBlockRead(uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T > | |
SdoFuture< T > | AsyncBlockRead (uint16_t idx, uint8_t subidx, const ::std::chrono::milliseconds &timeout) |
Queues an asynchronous read (SDO block upload) operation and creates a future which becomes ready once the request completes (or is canceled). More... | |
template<class T > | |
SdoFuture< void > | AsyncWrite (uint16_t idx, uint8_t subidx, T &&value) |
Equivalent to AsyncWrite(uint16_t idx, uint8_t subidx, T&& value, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T > | |
SdoFuture< void > | AsyncWrite (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... | |
template<class T > | |
SdoFuture< void > | AsyncBlockWrite (uint16_t idx, uint8_t subidx, T &&value) |
Equivalent to AsyncBlockWrite(uint16_t idx, uint8_t subidx, T&& value, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
template<class T > | |
SdoFuture< void > | AsyncBlockWrite (uint16_t idx, uint8_t subidx, T &&value, const ::std::chrono::milliseconds &timeout) |
Queues an asynchronous write (SDO block download) operation and creates a future which becomes ready once the request completes (or is canceled). More... | |
SdoFuture< void > | AsyncWriteDcf (const uint8_t *begin, const uint8_t *end) |
Equivalent to AsyncWriteDcf(const uint8_t* begin, const uint8_t* end, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
SdoFuture< void > | AsyncWriteDcf (const uint8_t *begin, const uint8_t *end, const ::std::chrono::milliseconds &timeout) |
Queues a series of asynchronous write (SDO download) operations, corresponding to the entries in the specified concise DCF, and creates a future which becomes ready once all requests complete (or an error occurs). More... | |
SdoFuture< void > | AsyncWriteDcf (const char *path) |
Equivalent to AsyncWriteDcf(const char* path, const ::std::chrono::milliseconds& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout(). | |
SdoFuture< void > | AsyncWriteDcf (const char *path, const ::std::chrono::milliseconds &timeout) |
Queues a series of asynchronous write (SDO download) operations, corresponding to the entries in the specified concise DCF, and creates a future which becomes ready once all requests complete (or an error occurs). More... | |
void | Insert (LogicalDriverBase &driver) |
Registers a logical device driver for the remote node. More... | |
void | Erase (LogicalDriverBase &driver) |
Unregisters a logical device driver for the remote node. More... | |
template<class F , class... Args> | |
void | Post (F &&f, Args &&... args) |
Schedules the specified Callable object for execution by the executor for this driver. More... | |
Additional Inherited Members | |
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BasicMaster & | master |
A reference to the master with which this driver is registered. | |
class BasicMaster::RpdoMapped | rpdo_mapped |
An accessor providing read-only access to RPDO-mapped objects in the remote object dictionary. More... | |
class BasicMaster::TpdoMapped | tpdo_mapped |
A mutator providing read/write access to TPDO-mapped objects in the remote object dictionary. More... | |
TpdoEventMutex & | tpdo_event_mutex |
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void | OnCanState (io::CanState new_state, io::CanState old_state) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnCanError (io::CanError error) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnRpdoWrite (uint16_t idx, uint8_t subidx) noexcept override |
The default implementation notifies all registered logical device drivers, unless the object index is part of the standardized profile area of a logical device (6000..9FFF). More... | |
void | OnCommand (NmtCommand cs) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnHeartbeat (bool occurred) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnState (NmtState st) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnSync (uint8_t cnt, const time_point &t) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnSyncError (uint16_t eec, uint8_t er) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnTime (const ::std::chrono::system_clock::time_point &abs_time) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnEmcy (uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnNodeGuarding (bool occurred) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnBoot (NmtState st, char es, const ::std::string &what) noexcept override |
The default implementation notifies all registered logical device drivers. More... | |
void | OnConfig (::std::function< void(::std::error_code ec)> res) noexcept override |
The default implementation invokes AsyncConfig() to start the configuration process for all registered logical device drivers. More... | |
void | OnDeconfig (::std::function< void(::std::error_code ec)> res) noexcept override |
The default implementation invokes AsyncDeconfig() to start the deconfiguration process for all registered logical device drivers. More... | |
SdoFuture< void > | AsyncConfig (int num=0) |
Invokes LogicalDriverBase::AsyncConfig() for the specified logical device driver. More... | |
SdoFuture< void > | AsyncDeconfig (int num=0) |
Invokes LogicalDriverBase::AsyncDeconfig() for the specified logical device driver. More... | |
A CANopen driver running its own dedicated event loop in a separate thread.
Definition at line 51 of file loop_driver.hpp.
|
explicit |
Creates a new CANopen driver and starts a new event loop in a separate thread to execute event handlers (and SDO confirmation functions).
master | a reference to a CANopen master. |
id | the node-ID of the remote node (in the range [1..127]). |
std::out_of_range | if the node-ID is invalid or already registered. |
Definition at line 77 of file loop_driver.cpp.
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default |
Stops the event loop and terminates the thread in which it was running before destroying the driver.
void lely::canopen::LoopDriver::Join | ( | ) |
Stops the dedicated event loop of the driver and waits until the thread running the event loop finishes its execution.
If logical drivers have been registered, this function SHOULD be invoked before those drivers are destroyed. Otherwise pending tasks for those drivers may remain on the event loop.
This function can be called more than once and from multiple threads, but only the first invocation waits for the thread to finish.
Definition at line 84 of file loop_driver.cpp.
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inline |
Schedules the specified Callable object for execution by the event loop for this driver.
Definition at line 110 of file loop_driver.hpp.
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inline |
Waits for the specified future to become ready by running pending tasks on the dedicated event loop of the driver.
This function MUST only be called from tasks running on that event loop.
the | exception stored in the future on failure. |
Definition at line 128 of file loop_driver.hpp.
|
inline |
Waits for the specified future to become ready by running pending tasks on the dedicated event loop of the driver.
The error code (0 on success) is stored in ec.
This function MUST only be called from tasks running on that event loop.
Definition at line 151 of file loop_driver.hpp.
void lely::canopen::LoopDriver::Wait | ( | SdoFuture< void > | f, |
::std::error_code & | ec | ||
) |
Waits for the specified future to become ready by running pending tasks on the dedicated event loop of the driver.
The error code (0 on success) is stored in ec.
This function MUST only be called from tasks running on that event loop.
the | exception stored in the future on failure. |
Definition at line 94 of file loop_driver.cpp.
void lely::canopen::LoopDriver::USleep | ( | uint_least64_t | usec | ) |
Runs the event loop for usec microseconds.
This function is equivalent to Wait(AsyncWait(::std::chrono::microseconds(usec)))
.
Definition at line 106 of file loop_driver.cpp.
void lely::canopen::LoopDriver::USleep | ( | uint_least64_t | usec, |
::std::error_code & | ec | ||
) |
Runs the event loop for usec microseconds.
This function is equivalent to Wait(AsyncWait(::std::chrono::microseconds(usec)), ec)
.
Definition at line 113 of file loop_driver.cpp.
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inline |
Queues an asynchronous read (SDO upload) operation and runs the event loop until the operation is complete.
idx | the object index. |
subidx | the object sub-index. |
timeout | the 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. |
ec | the error code (0 on success). ec == SdoErrc::NO_SDO if no client-SDO is available. |
Definition at line 240 of file loop_driver.hpp.
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inline |
Queues an asynchronous write (SDO download) operation and runs the event loop until the operation is complete.
idx | the object index. |
subidx | the object sub-index. |
value | the value to be written. |
timeout | the 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. |
ec | the error code (0 on success). ec == SdoErrc::NO_SDO if no client-SDO is available. |
Definition at line 296 of file loop_driver.hpp.