The base class for drivers for remote CANopen nodes. More...

#include <driver.hpp>

Inheritance diagram for lely::canopen::BasicDriver:

Collaboration diagram for lely::canopen::BasicDriver:

Public Member Functions
	BasicDriver (aio::LoopBase &loop, aio::ExecutorBase &exec, BasicMaster &master, uint8_t id)
	Creates a new driver for a remote CANopen node and registers it with the master. More...

aio::LoopBase	GetLoop () const noexcept
	Returns the event loop used to create promises and futures.

aio::ExecutorBase	GetExecutor () const noexcept final override
	Returns the executor used to execute event handlers for this driver, including SDO confirmation functions.

uint8_t	netid () const noexcept final override
	Returns the network-ID.

uint8_t	id () const noexcept final override
	Returns the node-ID.

void	Error ()
	Indicates the occurrence of an error event on the remote node and triggers the error handling process. 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, ::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, ::std::error_code &ec)
	Equivalent to SubmitRead(uint16_t idx, uint8_t subidx, F&& con, const Sdo::duration& 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 Sdo::duration &timeout)
	Equivalent to SubmitRead(uint16_t idx, uint8_t subidx, 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 (uint16_t idx, uint8_t subidx, F &&con, const Sdo::duration &timeout, ::std::error_code &ec)
	Queues an asynchronous read (SDO 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, ::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, ::std::error_code &ec)
	Equivalent to SubmitWrite(uint16_t idx, uint8_t subidx, T&& value, F&& con, const Sdo::duration& 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 Sdo::duration &timeout)
	Equivalent to SubmitWrite(uint16_t idx, uint8_t subidx, T&& value, 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 (uint16_t idx, uint8_t subidx, T &&value, 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 (uint16_t idx, uint8_t subidx)
	Equivalent to AsyncRead(uint16_t idx, uint8_t subidx, const Sdo::duration& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout().

template<class T >
aio::Future<::std::tuple<::std::error_code, T > >	AsyncRead (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 (uint16_t idx, uint8_t subidx, T &&value)
	Equivalent to AsyncWrite(uint16_t idx, uint8_t subidx, T&& value, const Sdo::duration& timeout), except that it uses the SDO timeout given by lely::canopen::BasicMaster::GetTimeout().

template<class T >
aio::Future<::std::error_code >	AsyncWrite (uint16_t idx, uint8_t subidx, T &&value, const Sdo::duration &timeout)
	Queues an asynchronous write (SDO download) operation and returns a future. 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 Sdo::duration& 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 Sdo::duration &timeout)
	Equivalent to RunRead(uint16_t idx, uint8_t subidx, const Sdo::duration& 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 Sdo::duration &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 Sdo::duration& 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 Sdo::duration &timeout)
	Equivalent to RunWrite(uint16_t idx, uint8_t subidx, T&& value, const Sdo::duration& 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 Sdo::duration &timeout, ::std::error_code &ec)
	Queues an asynchronous write (SDO download) operation and runs the event loop until the operation is complete. More...

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

Data Fields
BasicMaster &	master
	A reference to the master with which this driver is registered.

Detailed Description

The base class for drivers for remote CANopen nodes.

Definition at line 298 of file driver.hpp.

Constructor & Destructor Documentation

◆ BasicDriver()

lely::canopen::BasicDriver::BasicDriver	(	aio::LoopBase &	loop,
		aio::ExecutorBase &	exec,
		BasicMaster &	master,
		uint8_t	id
	)

Creates a new driver for a remote CANopen node and registers it with the master.

Parameters

loop	the event loop used to create promises and futures.
exec	the executor used to execute event handlers for this driver, including SDO confirmation functions. The executor SHOULD be based on loop.
master	a reference to a CANopen master.
id	the node-ID of the remote node (in the range [1..127]).

Exceptions

std::out_of_range if the node-ID is invalid or already registered.

Definition at line 51 of file driver.cpp.

Member Function Documentation

◆ Error()

void lely::canopen::BasicDriver::Error ( )

inline

Indicates the occurrence of an error event on the remote node and triggers the error handling process.

See also: BasicMaster::Error()

Definition at line 347 of file driver.hpp.

◆ SubmitRead()

template<class T , class F >

void lely::canopen::BasicDriver::SubmitRead	(	uint16_t	idx,
		uint8_t	subidx,
		F &&	con,
		const Sdo::duration &	timeout,
		::std::error_code &	ec
	)

inline

Queues an asynchronous read (SDO upload) operation.

This function reads the value of a sub-object in the remote object dictionary.

Parameters

idx	the object index.
subidx	the object sub-index.
con	the confirmation function to be called on completion of the SDO request.
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 408 of file driver.hpp.

◆ SubmitWrite()

template<class T , class F >

void lely::canopen::BasicDriver::SubmitWrite	(	uint16_t	idx,
		uint8_t	subidx,
		T &&	value,
		F &&	con,
		const Sdo::duration &	timeout,
		::std::error_code &	ec
	)

inline

Queues an asynchronous write (SDO download) operation.

This function writes a value to a sub-object in the remote object dictionary.

Parameters

idx	the object index.
subidx	the object sub-index.
value	the value to be written.
con	the confirmation function to be called on completion of the SDO request.
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 477 of file driver.hpp.

◆ AsyncRead()

template<class T >

aio::Future<::std::tuple<::std::error_code, T> > lely::canopen::BasicDriver::AsyncRead	(	uint16_t	idx,
		uint8_t	subidx,
		const Sdo::duration &	timeout
	)

inline

Queues an asynchronous read (SDO upload) operation and returns a future.

Parameters

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.

Returns: a future which, on completion, holds the SDO abort code and the received value. Note that if the client-SDO service is not available, the returned future is invalid.

Definition at line 514 of file driver.hpp.

◆ AsyncWrite()

template<class T >

aio::Future<::std::error_code> lely::canopen::BasicDriver::AsyncWrite	(	uint16_t	idx,
		uint8_t	subidx,
		T &&	value,
		const Sdo::duration &	timeout
	)

inline

Queues an asynchronous write (SDO download) operation and returns a future.

Parameters

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.

Returns: a future which, on completion, holds the SDO abort code. Note that if the client-SDO service is not available, the returned future is invalid.

Definition at line 551 of file driver.hpp.

◆ RunRead()

template<class T >

T lely::canopen::BasicDriver::RunRead	(	uint16_t	idx,
		uint8_t	subidx,
		const Sdo::duration &	timeout,
		::std::error_code &	ec
	)

inline

Queues an asynchronous read (SDO upload) operation and runs the event loop until the operation is complete.

Parameters

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.

Returns: the received value.

Definition at line 626 of file driver.hpp.

◆ RunWrite()

template<class T >

void lely::canopen::BasicDriver::RunWrite	(	uint16_t	idx,
		uint8_t	subidx,
		T &&	value,
		const Sdo::duration &	timeout,
		::std::error_code &	ec
	)

inline

Queues an asynchronous write (SDO download) operation and runs the event loop until the operation is complete.

Parameters

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 697 of file driver.hpp.

◆ Post()

template<class F >

void lely::canopen::BasicDriver::Post ( F && f )

inline

Schedules the specified Callable object for execution by the executor for this driver.

See also: GetExecutor()

Definition at line 714 of file driver.hpp.

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

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

Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

◆ BasicDriver()

Member Function Documentation

◆ Error()

◆ SubmitRead()

◆ SubmitWrite()

◆ AsyncRead()

◆ AsyncWrite()

◆ RunRead()

◆ RunWrite()

◆ Post()