The CANopen device description. More...

#include <device.hpp>

Inheritance diagram for lely::canopen::Device:

Data Structures
struct	Impl_
	The internal implementation of the CANopen device description. More...

Public Member Functions
	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.

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< is_canopen< T >::value, T >::type	Read (uint16_t idx, uint8_t subidx) const
	Submits an SDO upload request to the local object dictionary.

template<class T>
typename::std::enable_if< is_canopen< 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.

template<class T>
typename::std::enable_if< is_canopen< T >::value >::type	Write (uint16_t idx, uint8_t subidx, const T &value)
	Submits an SDO download request to the local object dictionary.

template<class T>
typename::std::enable_if< is_canopen< 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.

void	Write (uint16_t idx, uint8_t subidx, const char *value)
	Submits an SDO download request to the local object dictionary.

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.

void	Write (uint16_t idx, uint8_t subidx, const char16_t *value)
	Submits an SDO download request to the local object dictionary.

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.

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.

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.

void	WriteDcf (const uint8_t begin, const uint8_t end)
	Submits a series of SDO download requests to the local object dictionary.

void	WriteDcf (const uint8_t begin, const uint8_t end, ::std::error_code &ec)
	Submits a series of SDO download requests to the local object dictionary.

void	WriteDcf (const char *path)
	Submits a series of SDO download requests to the local object dictionary.

void	WriteDcf (const char *path, ::std::error_code &ec)
	Submits a series of SDO download requests to the local object dictionary.

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.

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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

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.

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.

Protected Member Functions
__co_dev *	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.

const ::std::type_info &	Type (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
	Returns the type of a sub-object.

template<class T>
typename::std::enable_if< is_canopen< T >::value, T >::type	Get (uint16_t idx, uint8_t subidx) const
	Reads the value of a sub-object.

template<class T>
typename::std::enable_if< is_canopen< T >::value, T >::type	Get (uint16_t idx, uint8_t subidx, ::std::error_code &ec) const noexcept
	Reads the value of a sub-object.

template<class T>
typename::std::enable_if< is_canopen< T >::value >::type	Set (uint16_t idx, uint8_t subidx, const T &value)
	Writes a CANopen value to a sub-object.

template<class T>
typename::std::enable_if< is_canopen< T >::value >::type	Set (uint16_t idx, uint8_t subidx, const T &value, ::std::error_code &ec) noexcept
	Writes a CANopen value to a sub-object.

void	Set (uint16_t idx, uint8_t subidx, const char *value)
	Writes a VISIBLE_STRING to a sub-object.

void	Set (uint16_t idx, uint8_t subidx, const char *value, ::std::error_code &ec) noexcept
	Writes a VISIBLE_STRING to a sub-object.

void	Set (uint16_t idx, uint8_t subidx, const char16_t *value)
	Writes a UNICODE_STRING to a sub-object.

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.

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.

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.

const char *	GetUploadFile (uint16_t idx, uint8_t subidx) const
	Returns the value of the UploadFile attribute of a sub-object, if present.

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.

void	SetUploadFile (uint16_t idx, uint8_t subidx, const char *filename)
	Sets the value of the UploadFile attribute of a sub-object, if present.

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.

const char *	GetDownloadFile (uint16_t idx, uint8_t subidx) const
	Returns the value of the DownloadFile attribute of a sub-object, if present.

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.

void	SetDownloadFile (uint16_t idx, uint8_t subidx, const char *filename)
	Sets the value of the DownloadFile attribute of a sub-object, if present.

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.

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.

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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

template<class T>
typename::std::enable_if< 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.

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.

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.

void	UpdateRpdoMapping ()
	Updates the mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects.

void	UpdateTpdoMapping ()
	Updates the mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects.

void	RpdoWrite (uint8_t id, uint16_t idx, uint8_t subidx)
	Invokes OnRpdoWrite() as if a value was written to an RPDO-mapped object in the local object dictionary.

Detailed Description

The CANopen device description.

This class manages the object dictionary and device setttings such as the network-ID and node-ID.

Definition at line 45 of file device.hpp.

Constructor & Destructor Documentation

◆ Device()

lely::canopen::Device::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.

Parameters

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.
mutex	an (optional) pointer to the mutex to be locked while the internal device description is accessed. The mutex MUST be unlocked when any member function is invoked.

Definition at line 178 of file device.cpp.

Member Function Documentation

◆ Read() [1/2]

template<class T>

typename::std::enable_if< is_canopen< T >::value, T >::type lely::canopen::Device::Read	(	uint16_t	idx,
		uint8_t	subidx ) const

Submits an SDO upload request to the local object dictionary.

This function reads the value of a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.

Returns: the result of the SDO request.

Exceptions

lely::canopen::SdoError on error.

Definition at line 231 of file device.cpp.

◆ Read() [2/2]

template<class T>

typename::std::enable_if< is_canopen< T >::value, T >::type lely::canopen::Device::Read	(	uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

Submits an SDO upload request to the local object dictionary.

This function reads the value of a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	on error, the SDO abort code is stored in ec.

Returns: the result of the SDO request, or an empty value on error.

Definition at line 240 of file device.cpp.

◆ Write() [1/8]

template<class T>

typename::std::enable_if< is_canopen< T >::value >::type lely::canopen::Device::Write	(	uint16_t	idx,
		uint8_t	subidx,
		const T &	value )

Submits an SDO download request to the local object dictionary.

This function writes a CANopen value to a sub-object while honoring all access and range checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
value	the value to be written.

Exceptions

lely::canopen::SdoError on error.

Definition at line 262 of file device.cpp.

◆ Write() [2/8]

template<class T>

typename::std::enable_if< is_canopen< T >::value >::type lely::canopen::Device::Write	(	uint16_t	idx,
		uint8_t	subidx,
		const T &	value,
		::std::error_code &	ec )

Submits an SDO download request to the local object dictionary.

This function writes a CANopen value to a sub-object while honoring all access and range checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
value	the value to be written.
ec	on error, the SDO abort code is stored in ec.

Definition at line 270 of file device.cpp.

◆ Write() [3/8]

void lely::canopen::Device::Write	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	value )

Submits an SDO download request to the local object dictionary.

This function writes a VISIBLE_STRING to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) string to be written.

Exceptions

lely::canopen::SdoError on error.

Definition at line 448 of file device.cpp.

◆ Write() [4/8]

void lely::canopen::Device::Write	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	value,
		::std::error_code &	ec )

Submits an SDO download request to the local object dictionary.

This function writes a VISIBLE_STRING to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) string to be written.
ec	on error, the SDO abort code is stored in ec.

Definition at line 455 of file device.cpp.

◆ Write() [5/8]

void lely::canopen::Device::Write	(	uint16_t	idx,
		uint8_t	subidx,
		const char16_t *	value )

Submits an SDO download request to the local object dictionary.

This function writes a UNICODE_STRING to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) UCS-2 string to be written.

Exceptions

lely::canopen::SdoError on error.

Definition at line 461 of file device.cpp.

◆ Write() [6/8]

void lely::canopen::Device::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.

This function writes a UNICODE_STRING to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) UCS-2 string to be written.
ec	on error, the SDO abort code is stored in ec.

Definition at line 468 of file device.cpp.

◆ Write() [7/8]

void lely::canopen::Device::Write	(	uint16_t	idx,
		uint8_t	subidx,
		const void *	p,
		::std::size_t	n )

Submits an SDO download request to the local object dictionary.

This function writes an OCTET_STRING or DOMAIN value to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
p	a pointer to the bytes to be written.
n	the number of bytes to write.

Exceptions

lely::canopen::SdoError on error.

Definition at line 496 of file device.cpp.

◆ Write() [8/8]

void lely::canopen::Device::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.

This function writes an OCTET_STRING or DOMAIN value to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

idx	the object index.
subidx	the object sub-index.
p	a pointer to the bytes to be written.
n	the number of bytes to write.
ec	on error, the SDO abort code is stored in ec.

Definition at line 503 of file device.cpp.

◆ WriteDcf() [1/4]

void lely::canopen::Device::WriteDcf	(	const uint8_t *	begin,
		const uint8_t *	end )

Submits a series of SDO download requests to the local object dictionary.

This functions writes each entry in the specified concise DCF to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

begin	a pointer the the first byte in a concise DCF (see object 1F22 in CiA 302-3 version 4.1.0).
end	a pointer to one past the last byte in the concise DCF. At most `end - begin` bytes are read.

Exceptions

lely::canopen::SdoError on error.

Definition at line 522 of file device.cpp.

◆ WriteDcf() [2/4]

void lely::canopen::Device::WriteDcf	(	const uint8_t *	begin,
		const uint8_t *	end,
		::std::error_code &	ec )

Submits a series of SDO download requests to the local object dictionary.

This functions writes each entry in the specified concise DCF to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

begin	a pointer the the first byte in a concise DCF (see object 1F22 in CiA 302-3 version 4.1.0).
end	a pointer to one past the last byte in the concise DCF. At most `end - begin` bytes are read.
ec	on error, the SDO abort code is stored in ec.

Definition at line 529 of file device.cpp.

◆ WriteDcf() [3/4]

void lely::canopen::Device::WriteDcf ( const char * path )

Submits a series of SDO download requests to the local object dictionary.

This functions writes each entry in the specified concise DCF to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

path	the path of the concise DCF.

Exceptions

lely::canopen::SdoError on error.

Definition at line 548 of file device.cpp.

◆ WriteDcf() [4/4]

void lely::canopen::Device::WriteDcf	(	const char *	path,
		::std::error_code &	ec )

Submits a series of SDO download requests to the local object dictionary.

This functions writes each entry in the specified concise DCF to a sub-object while honoring all access checks and executing any registered callback function.

Parameters

path	the path of the concise DCF.
ec	on error, the SDO abort code is stored in ec.

Definition at line 556 of file device.cpp.

◆ WriteEvent() [1/2]

void lely::canopen::Device::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.

Parameters

idx	the object index.
subidx	the object sub-index.

Exceptions

lely::canopen::SdoError if the sub-object does not exist.

Definition at line 575 of file device.cpp.

◆ WriteEvent() [2/2]

void lely::canopen::Device::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.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	if the sub-object does not exist, the SDO abort code is stored in ec.

Definition at line 582 of file device.cpp.

◆ RpdoRead() [1/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::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.

This function honors all access checks of the local object dictionary and executes any registered callback function.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Returns: the result of the SDO request.

Exceptions

lely::canopen::SdoError on error.

Precondition: a valid mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects has been generated with UpdateRpdoMapping().

Definition at line 591 of file device.cpp.

◆ RpdoRead() [2/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::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.

This function honors all access checks of the local object dictionary and executes any registered callback function.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
ec	on error, the SDO abort code is stored in ec.

Returns: the result of the SDO request, or an empty value on error.

Precondition: a valid mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects has been generated with UpdateRpdoMapping().

Definition at line 600 of file device.cpp.

◆ TpdoRead() [1/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::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.

This function honors all access checks of the local object dictionary and executes any registered callback function.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Returns: the result of the SDO request.

Exceptions

lely::canopen::SdoError on error.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 613 of file device.cpp.

◆ TpdoRead() [2/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::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.

This function honors all access checks of the local object dictionary and executes any registered callback function.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
ec	on error, the SDO abort code is stored in ec.

Returns: the result of the SDO request, or an empty value on error.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 622 of file device.cpp.

◆ TpdoWrite() [1/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value >::type lely::canopen::Device::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.

This function honors all access checks of the local object dictionary and executes any registered callback function.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
value	the value to be written.

Exceptions

lely::canopen::SdoError on error.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 635 of file device.cpp.

◆ TpdoWrite() [2/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value >::type lely::canopen::Device::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.

This function honors all access checks of the local object dictionary and executes any registered callback function.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
value	the value to be written.
ec	on error, the SDO abort code is stored in ec.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 643 of file device.cpp.

◆ TpdoWriteEvent() [1/2]

void lely::canopen::Device::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.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Exceptions

lely::canopen::SdoError if the sub-object does not exist.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 796 of file device.cpp.

◆ TpdoWriteEvent() [2/2]

void lely::canopen::Device::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.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
ec	if the sub-object does not exist, the SDO abort code is stored in ec.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 803 of file device.cpp.

◆ Type() [1/2]

const::std::type_info & lely::canopen::Device::Type	(	uint16_t	idx,
		uint8_t	subidx ) const

protected

Returns the type of a sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.

Returns: a reference to an std::type_info object representing the type, or typeid(void) if unknown.

Exceptions

lely::canopen::SdoError if the sub-object does not exist.

Definition at line 833 of file device.cpp.

◆ Type() [2/2]

const::std::type_info & lely::canopen::Device::Type	(	uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

protectednoexcept

Returns the type of a sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	if the sub-object does not exist, the SDO abort code is stored in ec.

Returns: a reference to an std::type_info object representing the type, or typeid(void) if unknown.

Definition at line 841 of file device.cpp.

◆ Get() [1/2]

template<class T>

typename::std::enable_if< is_canopen< T >::value, T >::type lely::canopen::Device::Get	(	uint16_t	idx,
		uint8_t	subidx ) const

protected

Reads the value of a sub-object.

This function reads the value directly from the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.

Returns: a copy of the value of the sub-object.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or the type does not match.

Definition at line 904 of file device.cpp.

◆ Get() [2/2]

template<class T>

typename::std::enable_if< is_canopen< T >::value, T >::type lely::canopen::Device::Get	(	uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

protectednoexcept

Reads the value of a sub-object.

This function reads the value directly from the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	if the sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Returns: a copy of the value of the sub-object, or an empty value on error.

Definition at line 913 of file device.cpp.

◆ Set() [1/8]

template<class T>

typename::std::enable_if< is_canopen< T >::value >::type lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const T &	value )

protected

Writes a CANopen value to a sub-object.

This function writes the value directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
value	the value to be written.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or the type does not match.

Definition at line 943 of file device.cpp.

◆ Set() [2/8]

template<class T>

typename::std::enable_if< is_canopen< T >::value >::type lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const T &	value,
		::std::error_code &	ec )

protectednoexcept

Writes a CANopen value to a sub-object.

This function writes the value directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
value	the value to be written.
ec	if the sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Definition at line 951 of file device.cpp.

◆ Set() [3/8]

void lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	value )

protected

Writes a VISIBLE_STRING to a sub-object.

This function writes the string directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) string to be written.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or the type does not match.

Definition at line 1144 of file device.cpp.

◆ Set() [4/8]

void lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	value,
		::std::error_code &	ec )

protectednoexcept

Writes a VISIBLE_STRING to a sub-object.

This function writes the string directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) string to be written.
ec	if the sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Definition at line 1151 of file device.cpp.

◆ Set() [5/8]

void lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const char16_t *	value )

protected

Writes a UNICODE_STRING to a sub-object.

This function writes the string directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) UCS-2 string to be written.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or the type does not match.

Definition at line 1157 of file device.cpp.

◆ Set() [6/8]

void lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const char16_t *	value,
		::std::error_code &	ec )

protectednoexcept

Writes a UNICODE_STRING to a sub-object.

This function writes the string directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
value	a pointer to the (null-terminated) UCS-2 string to be written.
ec	if the sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Definition at line 1164 of file device.cpp.

◆ Set() [7/8]

void lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const void *	p,
		::std::size_t	n )

protected

Writes an OCTET_STRING or DOMAIN value to a sub-object.

This function writes the bytes directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
p	a pointer to the bytes to be written.
n	the number of bytes to write.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or the type does not match.

Definition at line 1202 of file device.cpp.

◆ Set() [8/8]

void lely::canopen::Device::Set	(	uint16_t	idx,
		uint8_t	subidx,
		const void *	p,
		::std::size_t	n,
		::std::error_code &	ec )

protectednoexcept

Writes an OCTET_STRING or DOMAIN value to a sub-object.

This function writes the bytes directly to the object dictionary and bypasses any access checks or registered callback functions.

Parameters

idx	the object index.
subidx	the object sub-index.
p	a pointer to the bytes to be written.
n	the number of bytes to write.
ec	if the sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Definition at line 1209 of file device.cpp.

◆ GetUploadFile() [1/2]

const char * lely::canopen::Device::GetUploadFile	(	uint16_t	idx,
		uint8_t	subidx ) const

protected

Returns the value of the UploadFile attribute of a sub-object, if present.

The returned value is valid until the next call to SetUploadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.

Returns: a pointer to the UploadFile string, or nullptr if the UploadFile attribute does not exist.

Exceptions

lely::canopen::SdoError if the sub-object does not exist.

Definition at line 1235 of file device.cpp.

◆ GetUploadFile() [2/2]

const char * lely::canopen::Device::GetUploadFile	(	uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

protectednoexcept

Returns the value of the UploadFile attribute of a sub-object, if present.

The returned value is valid until the next call to SetUploadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	if the sub-object does not exist, the SDO abort code is stored in ec.

Returns: a pointer to the UploadFile string, or nullptr on error or if the UploadFile attribute does not exist.

Definition at line 1243 of file device.cpp.

◆ SetUploadFile() [1/2]

void lely::canopen::Device::SetUploadFile	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	filename )

protected

Sets the value of the UploadFile attribute of a sub-object, if present.

This operation invalidates any value returned by a previous call to GetUploadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
filename	a pointer to the string to be copied to the UploadFile attribute.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or does not have the UploadFile attribute.

Definition at line 1262 of file device.cpp.

◆ SetUploadFile() [2/2]

void lely::canopen::Device::SetUploadFile	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	filename,
		::std::error_code &	ec )

protectednoexcept

Sets the value of the UploadFile attribute of a sub-object, if present.

This operation invalidates any value returned by a previous call to GetUploadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
filename	a pointer to the string to be copied to the UploadFile attribute.
ec	if the sub-object does not exist or does not have the UploadFile attribute, the SDO abort code is stored in ec.

Definition at line 1269 of file device.cpp.

◆ GetDownloadFile() [1/2]

const char * lely::canopen::Device::GetDownloadFile	(	uint16_t	idx,
		uint8_t	subidx ) const

protected

Returns the value of the DownloadFile attribute of a sub-object, if present.

The returned value is valid until the next call to SetDownloadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.

Returns: a pointer to the DownloadFile string, or nullptr if the DownloadFile attribute does not exist.

Exceptions

lely::canopen::SdoError if the sub-object does not exist.

Definition at line 1293 of file device.cpp.

◆ GetDownloadFile() [2/2]

const char * lely::canopen::Device::GetDownloadFile	(	uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

protectednoexcept

Returns the value of the DownloadFile attribute of a sub-object, if present.

The returned value is valid until the next call to SetDownloadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	if the sub-object does not exist, the SDO abort code is stored in ec.

Returns: a pointer to the DownloadFile string, or nullptr on error or if the DownloadFile attribute does not exist.

Definition at line 1301 of file device.cpp.

◆ SetDownloadFile() [1/2]

void lely::canopen::Device::SetDownloadFile	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	filename )

protected

Sets the value of the DownloadFile attribute of a sub-object, if present.

This operation invalidates any value returned by a previous call to GetDownloadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
filename	a pointer to the string to be copied to the DownloadFile attribute.

Exceptions

lely::canopen::SdoError if the sub-object does not exist or does not have the DownloadFile attribute.

Definition at line 1320 of file device.cpp.

◆ SetDownloadFile() [2/2]

void lely::canopen::Device::SetDownloadFile	(	uint16_t	idx,
		uint8_t	subidx,
		const char *	filename,
		::std::error_code &	ec )

protectednoexcept

Sets the value of the DownloadFile attribute of a sub-object, if present.

This operation invalidates any value returned by a previous call to GetDownloadFile() for the same sub-object.

Parameters

idx	the object index.
subidx	the object sub-index.
filename	a pointer to the string to be copied to the DownloadFile attribute.
ec	if the sub-object does not exist or does not have the DownloadFile attribute, the SDO abort code is stored in ec.

Definition at line 1327 of file device.cpp.

◆ SetEvent() [1/2]

void lely::canopen::Device::SetEvent	(	uint16_t	idx,
		uint8_t	subidx )

protected

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.

Parameters

idx	the object index.
subidx	the object sub-index.

Exceptions

lely::canopen::SdoError if the sub-object does not exist.

Definition at line 1353 of file device.cpp.

◆ SetEvent() [2/2]

void lely::canopen::Device::SetEvent	(	uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec )

protectednoexcept

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.

Parameters

idx	the object index.
subidx	the object sub-index.
ec	if the sub-object does not exist, the SDO abort code is stored in ec.

Exceptions

lely::canopen::SdoError on error.

Definition at line 1360 of file device.cpp.

◆ RpdoGet() [1/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::RpdoGet	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx ) const

protected

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.

This function reads the value directly from the local object dictionary and bypasses any access checks or registered callback functions.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Returns: a copy of the value of the PDO-mapped sub-object.

Exceptions

lely::canopen::SdoError if the PDO-mapped sub-object does not exist or the type does not match.

Precondition: a valid mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects has been generated with UpdateRpdoMapping().

Definition at line 1383 of file device.cpp.

◆ RpdoGet() [2/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::RpdoGet	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

protectednoexcept

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.

This function reads the value directly from the local object dictionary and bypasses any access checks or registered callback functions.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
ec	if the PDO-mapped sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Returns: a copy of the value of the PDO-mapped sub-object, or an empty value on error.

Precondition: a valid mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects has been generated with UpdateRpdoMapping().

Definition at line 1392 of file device.cpp.

◆ TpdoGet() [1/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::TpdoGet	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx ) const

protected

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.

This function reads the value directly from the local object dictionary and bypasses any access checks or registered callback functions.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Returns: a copy of the value of the PDO-mapped sub-object.

Exceptions

lely::canopen::SdoError if the PDO-mapped sub-object does not exist or the type does not match.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 1402 of file device.cpp.

◆ TpdoGet() [2/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value, T >::type lely::canopen::Device::TpdoGet	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec ) const

protectednoexcept

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.

This function reads the value directly from the local object dictionary and bypasses any access checks or registered callback functions.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
ec	if the PDO-mapped sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Returns: a copy of the value of the PDO-mapped sub-object, or an empty value on error.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 1411 of file device.cpp.

◆ TpdoSet() [1/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value >::type lely::canopen::Device::TpdoSet	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx,
		T	value )

protected

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.

This function writes the value directly to the local object dictionary and bypasses any access and range checks or registered callback functions.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
value	the value to be written.

Exceptions

lely::canopen::SdoError if the PDO-mapped sub-object does not exist or the type does not match.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 1421 of file device.cpp.

◆ TpdoSet() [2/2]

template<class T>

typename::std::enable_if< is_canopen_basic< T >::value >::type lely::canopen::Device::TpdoSet	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx,
		T	value,
		::std::error_code &	ec )

protectednoexcept

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.

This function writes the value directly to the local object dictionary and bypasses any access and range checks or registered callback functions.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
value	the value to be written.
ec	if the PDO-mapped sub-object does not exist or the type does not match, the SDO abort code is stored in ec.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 1429 of file device.cpp.

◆ TpdoSetEvent() [1/2]

void lely::canopen::Device::TpdoSetEvent	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx )

protected

Triggers the transmission of every event-driven, asynchronous Transmit-PDO which is mapped into the specified sub-object in a remote object dictionary.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Exceptions

lely::canopen::SdoError if the PDO-mapped sub-object does not exist.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 1579 of file device.cpp.

◆ TpdoSetEvent() [2/2]

void lely::canopen::Device::TpdoSetEvent	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx,
		::std::error_code &	ec )

protectednoexcept

Triggers the transmission of every event-driven, asynchronous Transmit-PDO which is mapped into the specified sub-object in a remote object dictionary.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.
ec	if the PDO-mapped sub-object does not exist, the SDO abort code is stored in ec.

Precondition: a valid mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects has been generated with UpdateTpdoMapping().

Definition at line 1586 of file device.cpp.

◆ UpdateRpdoMapping()

void lely::canopen::Device::UpdateRpdoMapping ( )

protected

Updates the mapping from remote TPDO-mapped sub-objects to local RPDO-mapped sub-objects.

The mapping is constructed from the RPDO communication and mapping parameters, and the Lely-specific objects 5800..59FF (Remote TPDO number and node-ID) and 5A00..5BFF (Remote TPDO mapping).

Definition at line 1594 of file device.cpp.

◆ UpdateTpdoMapping()

void lely::canopen::Device::UpdateTpdoMapping ( )

protected

Updates the mapping from remote RPDO-mapped sub-objects to local TPDO-mapped sub-objects.

The mapping is constructed from the TPDO communication and mapping parameters, and the Lely-specific objects 5C00..5DFF (Remote RPDO number and node-ID) and 5E00..5FFF (Remote RPDO mapping).

Definition at line 1714 of file device.cpp.

◆ RpdoWrite()

void lely::canopen::Device::RpdoWrite	(	uint8_t	id,
		uint16_t	idx,
		uint8_t	subidx )

protected

Invokes OnRpdoWrite() as if a value was written to an RPDO-mapped object in the local object dictionary.

Parameters

id	the node-ID.
idx	the remote object index.
subidx	the remote object sub-index.

Definition at line 1776 of file device.cpp.

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

include/lely/coapp/device.hpp
src/coapp/device.cpp

Data Structures

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Device()

Member Function Documentation

◆ Read() [1/2]

◆ Read() [2/2]

◆ Write() [1/8]

◆ Write() [2/8]

◆ Write() [3/8]

◆ Write() [4/8]

◆ Write() [5/8]

◆ Write() [6/8]

◆ Write() [7/8]

◆ Write() [8/8]

◆ WriteDcf() [1/4]

◆ WriteDcf() [2/4]

◆ WriteDcf() [3/4]

◆ WriteDcf() [4/4]

◆ WriteEvent() [1/2]

◆ WriteEvent() [2/2]

◆ RpdoRead() [1/2]

◆ RpdoRead() [2/2]

◆ TpdoRead() [1/2]

◆ TpdoRead() [2/2]

◆ TpdoWrite() [1/2]

◆ TpdoWrite() [2/2]

◆ TpdoWriteEvent() [1/2]

◆ TpdoWriteEvent() [2/2]

◆ Type() [1/2]

◆ Type() [2/2]

◆ Get() [1/2]

◆ Get() [2/2]

◆ Set() [1/8]

◆ Set() [2/8]

◆ Set() [3/8]

◆ Set() [4/8]

◆ Set() [5/8]

◆ Set() [6/8]

◆ Set() [7/8]

◆ Set() [8/8]

◆ GetUploadFile() [1/2]

◆ GetUploadFile() [2/2]

◆ SetUploadFile() [1/2]

◆ SetUploadFile() [2/2]

◆ GetDownloadFile() [1/2]

◆ GetDownloadFile() [2/2]

◆ SetDownloadFile() [1/2]

◆ SetDownloadFile() [2/2]

◆ SetEvent() [1/2]

◆ SetEvent() [2/2]

◆ RpdoGet() [1/2]

◆ RpdoGet() [2/2]

◆ TpdoGet() [1/2]

◆ TpdoGet() [2/2]

◆ TpdoSet() [1/2]

◆ TpdoSet() [2/2]

◆ TpdoSetEvent() [1/2]

◆ TpdoSetEvent() [2/2]

◆ UpdateRpdoMapping()

◆ UpdateTpdoMapping()

◆ RpdoWrite()