Lely core libraries 1.9.2
rpdo.hpp
Go to the documentation of this file.
1
23#ifndef LELY_CO_RPDO_HPP_
24#define LELY_CO_RPDO_HPP_
25
26#ifndef __cplusplus
27#error "include <lely/co/rpdo.h> for the C interface"
28#endif
29
30#include <lely/can/net.hpp>
31#include <lely/co/rpdo.h>
32
33namespace lely {
34
36template <>
37struct c_type_traits<__co_rpdo> {
38 typedef __co_rpdo 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_rpdo_alloc();
47 }
48 static void
49 free(void* ptr) noexcept {
50 __co_rpdo_free(ptr);
51 }
52
53 static pointer
54 init(pointer p, CANNet* net, CODev* dev, co_unsigned16_t num) noexcept {
55 return __co_rpdo_init(p, net, dev, num);
56 }
57
58 static void
59 fini(pointer p) noexcept {
60 __co_rpdo_fini(p);
61 }
62};
63
65class CORPDO : public incomplete_c_type<__co_rpdo> {
66 typedef incomplete_c_type<__co_rpdo> c_base;
67
68 public:
69 CORPDO(CANNet* net, CODev* dev, co_unsigned16_t num)
70 : c_base(net, dev, num) {}
71
72 CANNet*
73 getNet() const noexcept {
74 return co_rpdo_get_net(this);
75 }
76 CODev*
77 getDev() const noexcept {
78 return co_rpdo_get_dev(this);
79 }
80
81 co_unsigned16_t
82 getNum() const noexcept {
83 return co_rpdo_get_num(this);
84 }
85
86 const co_pdo_comm_par&
87 getCommPar() const noexcept {
88 return *co_rpdo_get_comm_par(this);
89 }
90
91 const co_pdo_map_par&
92 getMapPar() const noexcept {
93 return *co_rpdo_get_map_par(this);
94 }
95
96 void
97 getInd(co_rpdo_ind_t** pind, void** pdata) const noexcept {
98 co_rpdo_get_ind(this, pind, pdata);
99 }
100
101 void
102 setInd(co_rpdo_ind_t* ind, void* data) noexcept {
103 co_rpdo_set_ind(this, ind, data);
104 }
105
106 template <class F>
107 void
108 setInd(F* f) noexcept {
109 setInd(&c_obj_call<co_rpdo_ind_t*, F>::function, static_cast<void*>(f));
110 }
111
112 template <class C, typename c_mem_fn<co_rpdo_ind_t*, C>::type M>
113 void
114 setInd(C* obj) noexcept {
115 setInd(&c_mem_call<co_rpdo_ind_t*, C, M>::function,
116 static_cast<void*>(obj));
117 }
118
119 void
120 getErr(co_rpdo_err_t** perr, void** pdata) const noexcept {
121 co_rpdo_get_err(this, perr, pdata);
122 }
123
124 void
125 setErr(co_rpdo_err_t* err, void* data) noexcept {
126 co_rpdo_set_err(this, err, data);
127 }
128
129 template <class F>
130 void
131 setErr(F* f) noexcept {
132 setErr(&c_obj_call<co_rpdo_err_t*, F>::function, static_cast<void*>(f));
133 }
134
135 template <class C, typename c_mem_fn<co_rpdo_err_t*, C>::type M>
136 void
137 setErr(C* obj) noexcept {
138 setErr(&c_mem_call<co_rpdo_err_t*, C, M>::function,
139 static_cast<void*>(obj));
140 }
141
142 int
143 sync(co_unsigned8_t cnt) noexcept {
144 return co_rpdo_sync(this, cnt);
145 }
146
147 int
148 rtr() noexcept {
149 return co_rpdo_rtr(this);
150 }
151
152 protected:
153 ~CORPDO() {}
154};
155
156} // namespace lely
157
158#endif // !LELY_CO_RPDO_HPP_
lely::CANNet
An opaque CAN network interface type.
Definition: net.hpp:83
lely::CODev
An opaque CANopen device type.
Definition: dev.hpp:76
lely::CORPDO
An opaque CANopen Receive-PDO service type.
Definition: rpdo.hpp:65
lely::incomplete_c_type
The base class for a C++ interface to an incomplete C type.
Definition: c_type.hpp:245
lely
Global namespace for the Lely Industries N.V. libraries.
Definition: buf.hpp:32
net.hpp
This header file is part of the CAN library; it contains the C++ interface of the CAN network interfa...
rpdo.h
This header file is part of the CANopen library; it contains the Receive-PDO declarations.
co_rpdo_get_err
void co_rpdo_get_err(const co_rpdo_t *pdo, co_rpdo_err_t **perr, void **pdata)
Retrieves the error handling function of a Receive-PDO service.
Definition: rpdo.c:375
co_rpdo_rtr
int co_rpdo_rtr(co_rpdo_t *pdo)
Requests the transmission of a PDO.
Definition: rpdo.c:395
co_rpdo_err_t
void co_rpdo_err_t(co_rpdo_t *pdo, co_unsigned16_t eec, co_unsigned8_t er, void *data)
The type of a CANopen Receive-PDO error handling function, invoked in case of a timeout or length mis...
Definition: rpdo.h:56
co_rpdo_get_dev
co_dev_t * co_rpdo_get_dev(const co_rpdo_t *pdo)
Returns a pointer to the CANopen device of a Receive-PDO.
Definition: rpdo.c:323
co_rpdo_sync
int co_rpdo_sync(co_rpdo_t *pdo, co_unsigned8_t cnt)
Triggers the actuation of a received synchronous PDO.
Definition: rpdo.c:416
co_rpdo_set_err
void co_rpdo_set_err(co_rpdo_t *pdo, co_rpdo_err_t *err, void *data)
Sets the error handling function of a Receive-PDO service.
Definition: rpdo.c:386
co_rpdo_get_ind
void co_rpdo_get_ind(const co_rpdo_t *pdo, co_rpdo_ind_t **pind, void **pdata)
Retrieves the indication function invoked when a Receive-PDO error occurs.
Definition: rpdo.c:355
co_rpdo_get_net
can_net_t * co_rpdo_get_net(const co_rpdo_t *pdo)
Returns a pointer to the CAN network of a Receive-PDO.
Definition: rpdo.c:315
co_rpdo_get_num
co_unsigned16_t co_rpdo_get_num(const co_rpdo_t *pdo)
Returns the PDO number of a Receive-PDO.
Definition: rpdo.c:331
co_rpdo_ind_t
void co_rpdo_ind_t(co_rpdo_t *pdo, co_unsigned32_t ac, const void *ptr, size_t n, void *data)
The type of a CANopen Receive-PDO indication function, invoked when a PDO is received or an error occ...
Definition: rpdo.h:44
co_rpdo_set_ind
void co_rpdo_set_ind(co_rpdo_t *pdo, co_rpdo_ind_t *ind, void *data)
Sets the indication function invoked when a Receive-PDO error occurs.
Definition: rpdo.c:366
co_rpdo_get_map_par
const struct co_pdo_map_par * co_rpdo_get_map_par(const co_rpdo_t *pdo)
Returns a pointer to the PDO mapping parameter record of a Receive-PDO.
Definition: rpdo.c:347
co_rpdo_get_comm_par
const struct co_pdo_comm_par * co_rpdo_get_comm_par(const co_rpdo_t *pdo)
Returns a pointer to the PDO communication parameter record of a Receive-PDO.
Definition: rpdo.c:339
__co_rpdo
A CANopen Receive-PDO.
Definition: rpdo.c:40
co_pdo_comm_par
A PDO communication parameter record.
Definition: pdo.h:43
co_pdo_map_par
A PDO mapping parameter record.
Definition: pdo.h:69
lely::c_mem_call
Definition: c_call.hpp:67
lely::c_obj_call
Definition: c_call.hpp:62
lely::c_type_traits
A class template supplying a uniform interface to certain attributes of C types.
Definition: c_type.hpp:344