An asynchronous CANopen master. More...

#include <master.hpp>

Inheritance diagram for lely::canopen::AsyncMaster:

Collaboration diagram for lely::canopen::AsyncMaster:

Public Member Functions
	BasicMaster (aio::TimerBase &timer, aio::CanBusBase &bus, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
	Creates a new CANopen master. More...

Public Member Functions inherited from lely::canopen::BasicMaster
	BasicMaster (aio::TimerBase &timer, aio::CanBusBase &bus, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
	Creates a new CANopen master. More...

Object	operator[] (uint16_t idx)
	Returns a mutator object that provides read/write access to the specified CANopen object in the local object dictionary. More...

ConstObject	operator[] (uint16_t idx) const
	Returns an accessor object that provides read-only access to the specified CANopen object in the local object dictionary. More...

void	Error (uint8_t id)
	Indicates the occurrence of an error event on a remote node and triggers the error handling process (see Fig. More...

void	RpdoRtr (int num=0)
	Requests the transmission of a PDO. More...

void	TpdoEvent (int num=0)
	Triggers the transmission of an event-driven (asynchronous) PDO. More...

::std::chrono::milliseconds	GetTimeout () const
	Returns the SDO timeout used during the NMT 'boot slave' and 'check configuration' processes. More...

void	SetTimeout (const ::std::chrono::milliseconds &timeout)
	Sets the SDO timeout used during the NMT 'boot slave' and 'check configuration' processes. More...

template<class T >
void	SubmitRead (uint8_t id, Sdo::UploadRequest< T > &req)
	Equivalent to SubmitRead(uint8_t id, Sdo::UploadRequest<T>& req, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.

template<class T >
void	SubmitRead (uint8_t id, Sdo::UploadRequest< T > &req, ::std::error_code &ec)
	Queues an asynchronous read (SDO upload) operation. More...

template<class T , class F >
void	SubmitRead (uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase &exec, F &&con)
	Equivalent to SubmitRead(uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase& exec, F&& con, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.

template<class T , class F >
void	SubmitRead (uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase &exec, F &&con, ::std::error_code &ec)
	Equivalent to SubmitRead(uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase& exec, F&& con, const Sdo::duration& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by GetTimeout().

template<class T , class F >
void	SubmitRead (uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase &exec, F &&con, const Sdo::duration &timeout)
	Equivalent to SubmitRead(uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase& exec, F&& con, const Sdo::duration& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.

template<class T , class F >
void	SubmitRead (uint8_t id, uint16_t idx, uint8_t subidx, aio::ExecutorBase &exec, F &&con, const Sdo::duration &timeout, ::std::error_code &ec)
	Queues an asynchronous read (SDO upload) operation. More...

template<class T >
void	SubmitWrite (uint8_t id, Sdo::DownloadRequest< T > &req)
	Equivalent to SubmitWrite(uint8_t id, Sdo::DownloadRequest<T>& req, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.

template<class T >
void	SubmitWrite (uint8_t id, Sdo::DownloadRequest< T > &req, ::std::error_code &ec)
	Queues an asynchronous write (SDO download) operation. More...

template<class T , class F >
void	SubmitWrite (uint8_t id, uint16_t idx, uint8_t subidx, T &&value, aio::ExecutorBase &exec, F &&con)
	Equivalent to SubmitWrite(uint8_t id, uint16_t idx, uint8_t subidx, T&& value, aio::ExecutorBase& exec, F&& con, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.

template<class T , class F >
void	SubmitWrite (uint8_t id, uint16_t idx, uint8_t subidx, T &&value, aio::ExecutorBase &exec, F &&con, ::std::error_code &ec)
	Equivalent to SubmitWrite(uint8_t id, uint16_t idx, uint8_t subidx, T&& value, aio::ExecutorBase& exec, F&& con, const Sdo::duration& timeout, ::std::error_code& ec), except that it uses the SDO timeout given by GetTimeout().

template<class T , class F >
void	SubmitWrite (uint8_t id, uint16_t idx, uint8_t subidx, T &&value, aio::ExecutorBase &exec, F &&con, const Sdo::duration &timeout)
	Equivalent to SubmitWrite(uint8_t id, uint16_t idx, uint8_t subidx, T&& value, aio::ExecutorBase& exec, F&& con, const Sdo::duration& timeout, ::std::error_code& ec), except that it throws lely::canopen::SdoError on error.

template<class T , class F >
void	SubmitWrite (uint8_t id, uint16_t idx, uint8_t subidx, T &&value, aio::ExecutorBase &exec, F &&con, const Sdo::duration &timeout, ::std::error_code &ec)
	Queues an asynchronous write (SDO download) operation. More...

template<class T >
aio::Future<::std::tuple<::std::error_code, T > >	AsyncRead (aio::LoopBase &loop, aio::ExecutorBase &exec, uint8_t id, uint16_t idx, uint8_t subidx)
	Equivalent to AsyncRead(aio::LoopBase& loop, aio::ExecutorBase& exec, uint8_t id, uint16_t idx, uint8_t subidx, const Sdo::duration& timeout), except that it uses the SDO timeout given by GetTimeout().

template<class T >
aio::Future<::std::tuple<::std::error_code, T > >	AsyncRead (aio::LoopBase &loop, aio::ExecutorBase &exec, uint8_t id, uint16_t idx, uint8_t subidx, const Sdo::duration &timeout)
	Queues an asynchronous read (SDO upload) operation and returns a future. More...

template<class T >
aio::Future<::std::error_code >	AsyncWrite (aio::LoopBase &loop, aio::ExecutorBase &exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value)
	Equivalent to AsyncWrite(aio::LoopBase& loop, aio::ExecutorBase& exec, uint8_t id, uint16_t idx, uint8_t subidx, T&& value, const Sdo::duration& timeout), except that it uses the SDO timeout given by GetTimeout().

template<class T >
aio::Future<::std::error_code >	AsyncWrite (aio::LoopBase &loop, aio::ExecutorBase &exec, uint8_t id, uint16_t idx, uint8_t subidx, T &&value, const Sdo::duration &timeout)
	Queues an asynchronous write (SDO download) operation and returns a future. More...

void	Insert (DriverBase &driver)
	Registers a driver for a remote CANopen node. More...

void	Erase (DriverBase &driver)
	Unregisters a driver for a remote CANopen node. More...

Public Member Functions inherited from lely::canopen::Node
	Node (aio::TimerBase &timer, aio::CanBusBase &bus, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
	Creates a new CANopen node. More...

void	Reset ()
	(Re)starts the node. More...

Public Member Functions inherited from lely::canopen::IoContext
	IoContext (aio::TimerBase &timer, aio::CanBusBase &bus, BasicLockable *mutex=nullptr)
	Creates a new I/O context. More...

aio::ExecutorBase	GetExecutor () const noexcept
	Returns the executor used to process I/O events on the CAN bus.

template<class F >
void	Post (F &&f)
	Schedules the specified Callable object for execution. More...

Public Member Functions inherited from lely::canopen::Device
	Device (const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff, BasicLockable *mutex=nullptr)
	Creates a new CANopen device description. More...

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

template<class T >
typename ::std::enable_if< detail::IsCanopenType< 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. More...

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

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

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

template<class T >
typename ::std::enable_if< detail::IsCanopenArray< 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. More...

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

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. More...

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

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. More...

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. More...

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. More...

Protected Member Functions
void	OnCanError (CanError error) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnCanState (CanState new_state, CanState old_state) noexcept override
	The default implementation invokes lely::canopen::Node::OnCanState() and queues a notification for each registered driver. More...

void	OnCommand (NmtCommand cs) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnNodeGuarding (uint8_t id, bool occurred) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnHeartbeat (uint8_t id, bool occurred) noexcept override
	The default implementation queues a notification for the driver registered for node id. More...

void	OnState (uint8_t id, NmtState st) noexcept override
	The default implementation queues a notification for the driver registered for node id. More...

void	OnBoot (uint8_t id, NmtState st, char es, const ::std::string &what) noexcept override
	The default implementation queues a notification for the driver registered for node id. More...

void	OnConfig (uint8_t id) noexcept override
	The default implementation queues a notification for the driver registered for node id. More...

void	OnRpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnRpdoError (int num, uint16_t eec, uint8_t er) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnTpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnSync (uint8_t cnt, const time_point &t) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnSyncError (uint16_t eec, uint8_t er) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnTime (const ::std::chrono::system_clock::time_point &abs_time) noexcept override
	The default implementation queues a notification for all registered drivers. More...

void	OnEmcy (uint8_t id, uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept override
	The default implementation queues a notification for the driver registered for node id. More...

Protected Member Functions inherited from lely::canopen::BasicMaster
void	ConfigResult (uint8_t id, ::std::error_code ec) noexcept
	Reports the result of the 'update configuration' step to the NMT service. More...

Sdo *	GetSdo (uint8_t id)
	Returns a pointer to the default client-SDO service for the given node. More...

void	CancelSdo (uint8_t id=0)
	Aborts any ongoing or pending SDO requests for the specified slave. More...

Protected Member Functions inherited from lely::canopen::Node
virtual void	lock () final override
	Blocks until a lock can be obtained for the current execution agent (thread, process, task). More...

virtual void	unlock () final override
	Releases the lock held by the execution agent. Throws no exceptions.

void	OnCanState (CanState new_state, CanState old_state) noexcept override
	Implements the default behavior for a CAN bus state change. More...

CONMT *	nmt () const noexcept
	Returns a pointer to the internal CANopen NMT master/slave service from <lely/co/nmt.hpp>.

void	RpdoRtr (int num=0)
	Requests the transmission of a PDO. More...

void	TpdoEvent (int num=0)
	Triggers the transmission of an event-driven (asynchronous) PDO. More...

Protected Member Functions inherited from lely::canopen::IoContext
CANNet *	net () const noexcept
	Returns a pointer to the internal CAN network interface from <lely/can/net.hpp>.

void	SetTime ()
	Update the CAN network time. More...

	IoContext (aio::TimerBase &timer, aio::CanBusBase &bus, BasicLockable *mutex=nullptr)
	Creates a new I/O context. More...

aio::ExecutorBase	GetExecutor () const noexcept
	Returns the executor used to process I/O events on the CAN bus.

template<class F >
void	Post (F &&f)
	Schedules the specified Callable object for execution. More...

Protected Member Functions inherited from lely::canopen::Device
CODev *	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. More...

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

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

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

template<class T >
typename ::std::enable_if< detail::IsCanopenBasic< T >::value >::type	Set (uint16_t idx, uint8_t subidx, T value)
	Writes a CANopen basic value to a sub-object. More...

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

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

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

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

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

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

void	Set (uint16_t idx, uint8_t subidx, const char16_t *value, ::std::error_code &ec)
	Writes a UNICODE_STRING to a sub-object. More...

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. More...

void	Set (uint16_t idx, uint8_t subidx, const void *p, ::std::size_t n, ::std::error_code &ec)
	Writes an OCTET_STRING or DOMAIN value to a sub-object. More...

	Device (const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff, BasicLockable *mutex=nullptr)
	Creates a new CANopen device description. More...

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

template<class T >
typename ::std::enable_if< detail::IsCanopenType< 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. More...

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

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

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

template<class T >
typename ::std::enable_if< detail::IsCanopenArray< 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. More...

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

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. More...

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

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. More...

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. More...

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. More...

Additional Inherited Members
Public Types inherited from lely::canopen::BasicMaster
template<class T >
using	ReadSignature = void(uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code ec, T value)
	The signature of the callback function invoked on completion of an asynchronous read (SDO upload) operation from a remote object dictionary. More...

using	WriteSignature = void(uint8_t id, uint16_t idx, uint8_t subidx, ::std::error_code ec)
	The signature of the callback function invoked on completion of an asynchronous write (SDO download) operation to a remote object dictionary. More...

Detailed Description

An asynchronous CANopen master.

When a CANopen event occurs, this master queues a notification to (the executor of) each registered driver. The master itself does not block waiting for events to be handled.

Definition at line 1044 of file master.hpp.

Member Function Documentation

◆ OnCanError()

void lely::canopen::AsyncMaster::OnCanError ( CanError error )

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: IoContext::OnCanError(), DriverBase::OnCanError()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 313 of file master.cpp.

◆ OnCanState()

void lely::canopen::AsyncMaster::OnCanState	(	CanState	new_state,
		CanState	old_state
	)

overrideprotectedvirtualnoexcept

The default implementation invokes lely::canopen::Node::OnCanState() and queues a notification for each registered driver.

See also: IoContext::OnCanState(), DriverBase::OnCanState()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 324 of file master.cpp.

◆ OnCommand()

void lely::canopen::AsyncMaster::OnCommand ( NmtCommand cs )

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

Unless the master enters the pre-operational or operational state, all ongoing and pending SDO requests are aborted.

See also: Node::OnCommand(), DriverBase::OnCommand()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 335 of file master.cpp.

◆ OnNodeGuarding()

void lely::canopen::AsyncMaster::OnNodeGuarding	(	uint8_t	id,
		bool	occurred
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: BasicMaster::OnNodeGuarding(), DriverBase::OnNodeGuarding()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 349 of file master.cpp.

◆ OnHeartbeat()

void lely::canopen::AsyncMaster::OnHeartbeat	(	uint8_t	id,
		bool	occurred
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for the driver registered for node id.

See also: Node::OnHeartbeat(), DriverBase::OnHeartbeat()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 361 of file master.cpp.

◆ OnState()

void lely::canopen::AsyncMaster::OnState	(	uint8_t	id,
		NmtState	st
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for the driver registered for node id.

If a boot-up event (st == NmtState::BOOTUP) is detected, any ongoing or pending SDO requests for the slave are aborted.

See also: Node::OnState(), DriverBase::OnState()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 373 of file master.cpp.

◆ OnBoot()

void lely::canopen::AsyncMaster::OnBoot	(	uint8_t	id,
		NmtState	st,
		char	es,
		const ::std::string &	what
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for the driver registered for node id.

See also: BasicMaster::OnBoot(), DriverBase::OnBoot()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 388 of file master.cpp.

◆ OnConfig()

void lely::canopen::AsyncMaster::OnConfig ( uint8_t id )

overrideprotectedvirtualnoexcept

The default implementation queues a notification for the driver registered for node id.

See also: BasicMaster::OnConfig(), DriverBase::OnConfig()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 401 of file master.cpp.

◆ OnRpdo()

void lely::canopen::AsyncMaster::OnRpdo	(	int	num,
		::std::error_code	ec,
		const void *	p,
		::std::size_t	n
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: Node::OnRpdo(), DriverBase::OnRpdo()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 427 of file master.cpp.

◆ OnRpdoError()

void lely::canopen::AsyncMaster::OnRpdoError	(	int	num,
		uint16_t	eec,
		uint8_t	er
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: Node::OnRpdoError(), DriverBase::OnRpdoError()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 443 of file master.cpp.

◆ OnTpdo()

void lely::canopen::AsyncMaster::OnTpdo	(	int	num,
		::std::error_code	ec,
		const void *	p,
		::std::size_t	n
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: Node::OnTpdo(), DriverBase::OnTpdo()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 454 of file master.cpp.

◆ OnSync()

void lely::canopen::AsyncMaster::OnSync	(	uint8_t	cnt,
		const time_point &	t
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: Node::OnSync(), DriverBase::OnSync()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 469 of file master.cpp.

◆ OnSyncError()

void lely::canopen::AsyncMaster::OnSyncError	(	uint16_t	eec,
		uint8_t	er
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: Node::OnSyncError(), DriverBase::OnSyncError()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 480 of file master.cpp.

◆ OnTime()

void lely::canopen::AsyncMaster::OnTime ( const ::std::chrono::system_clock::time_point & abs_time )

overrideprotectedvirtualnoexcept

The default implementation queues a notification for all registered drivers.

See also: Node::OnTime(), DriverBase::OnTime()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 491 of file master.cpp.

◆ OnEmcy()

void lely::canopen::AsyncMaster::OnEmcy	(	uint8_t	id,
		uint16_t	eec,
		uint8_t	er,
		uint8_t	msef[5]
	)

overrideprotectedvirtualnoexcept

The default implementation queues a notification for the driver registered for node id.

See also: Node::OnEmcy(), DriverBase::OnEmcy()

Reimplemented from lely::canopen::BasicMaster.

Definition at line 503 of file master.cpp.

◆ BasicMaster()

lely::canopen::BasicMaster::BasicMaster

Creates a new CANopen master.

After creation, the master is in the NMT 'Initialisation' state and does not yet create any services or perform any communication. Call Reset() to start the boot-up process.

Parameters

timer	the timer used for CANopen events.
bus	a handle to the CAN bus.
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.

Definition at line 55 of file master.cpp.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ OnCanError()

◆ OnCanState()

◆ OnCommand()

◆ OnNodeGuarding()

◆ OnHeartbeat()

◆ OnState()

◆ OnBoot()

◆ OnConfig()

◆ OnRpdo()

◆ OnRpdoError()

◆ OnTpdo()

◆ OnSync()

◆ OnSyncError()

◆ OnTime()

◆ OnEmcy()

◆ BasicMaster()