The base class for CANopen slaves. More...

#include <slave.hpp>

Inheritance diagram for lely::canopen::BasicSlave:

Collaboration diagram for lely::canopen::BasicSlave:

Data Structures
class	ConstObject
	An accessor providing read-only access to a CANopen object in a local object dictionary. More...

class	ConstSubObject
	An accessor providing read-only access to a CANopen sub-object in a local object dictionary. More...

struct	Impl_
	The internal implementation of the CANopen slave. More...

class	Object
	A mutator providing read/write access to a CANopen object in a local object dictionary. More...

class	SubObject
	A mutator providing read/write access to a CANopen sub-object in a local object dictionary. More...

Public Member Functions
	BasicSlave (aio::TimerBase &timer, aio::CanBusBase &bus, const ::std::string &dcf_txt, const ::std::string &dcf_bin="", uint8_t id=0xff)
	Creates a new CANopen slave. 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 Types
template<class T >
using	OnReadSignature = ::std::error_code(uint16_t idx, uint8_t subdx, T &value)
	The signature of the callback function invoked on read (SDO upload) access to the local object dictionary. More...

template<class T >
using	OnWriteSignature = typename ::std::conditional< detail::IsCanopenBasic< T >::value, ::std::error_code(uint16_t idx, uint8_t subidx, T &new_val, T old_val), ::std::error_code(uint16_t idx, uint8_t subidx, T &new_val)>::type
	The signature of the callback function invoked on write (SDO download) access to the local object dictionary. More...

Protected Member Functions
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...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	OnRead (uint16_t idx, uint8_t subidx, ::std::function< OnReadSignature< T >> ind)
	Registers a callback function to be invoked on read (SDO upload) access to the specified CANopen sub-object in the local object dictionary. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	OnRead (uint16_t idx, uint8_t subidx, ::std::function< OnReadSignature< T >> ind, ::std::error_code &ec)
	Registers a callback function to be invoked on read (SDO upload) access to the specified CANopen sub-object in the local object dictionary. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	OnWrite (uint16_t idx, uint8_t subidx, ::std::function< OnWriteSignature< T >> ind)
	Registers a callback function to be invoked on write (SDO download) access to the specified CANopen sub-object in the local object dictionary. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	OnWrite (uint16_t idx, uint8_t subidx, ::std::function< OnWriteSignature< T >> ind, ::std::error_code &ec)
	Registers a callback function to be invoked on write (SDO download) access to the specified CANopen sub-object in the local object dictionary. More...

virtual void	OnLifeGuarding (bool occurred) noexcept
	The function invoked when a life guarding event occurs or is resolved. 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...

virtual void	OnCommand (NmtCommand cs) noexcept
	The function invoked when an NMT command is received from the master. More...

virtual void	OnHeartbeat (uint8_t id, bool occurred) noexcept
	The function invoked when a heartbeat timeout event occurs or is resolved. More...

virtual void	OnState (uint8_t id, NmtState st) noexcept
	The function invoked when an NMT state change or boot-up event is detected for a remote node by the heartbeat protocol. More...

virtual void	OnRpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept
	The function invoked when a Receive-PDO is processed. More...

virtual void	OnRpdoError (int num, uint16_t eec, uint8_t er) noexcept
	The function invoked when a Receive-PDO length mismatch or timeout error occurs. More...

virtual void	OnTpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept
	The function invoked after a Transmit-PDO is sent or an error occurs. More...

virtual void	OnSync (uint8_t cnt, const time_point &t) noexcept
	The function invoked when a SYNC message is sent/received. More...

virtual void	OnSyncError (uint16_t eec, uint8_t er) noexcept
	The function invoked when the data length of a received SYNC message does not match. More...

virtual void	OnTime (const ::std::chrono::system_clock::time_point &abs_time) noexcept
	The function invoked when a TIME message is received. More...

virtual void	OnEmcy (uint8_t id, uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept
	The function invoked when an EMCY message is received. 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...

virtual void	OnCanError (CanError error) noexcept
	The function invoked when an error is detected on the CAN bus. 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...

Detailed Description

The base class for CANopen slaves.

Definition at line 32 of file slave.hpp.

Member Typedef Documentation

◆ OnReadSignature

template<class T >

using lely::canopen::BasicSlave::OnReadSignature = ::std::error_code(uint16_t idx, uint8_t subdx, T& value)

protected

The signature of the callback function invoked on read (SDO upload) access to the local object dictionary.

Note that the callback function SHOULD NOT throw exceptions. Since it is invoked from C, any exception that is thrown cannot be caught and will result in a call to std::terminate(). The lely::canopen::BasicLockable mutex implemented by this class is held for the duration of the call.

Parameters

idx	the object index.
subidx	the object sub-index.
value	the current value in the object dictionary. This value can be modified before it is returned to the client.

Returns: 0 on success, or an SDO abort code on error.

Definition at line 433 of file slave.hpp.

◆ OnWriteSignature

template<class T >

using lely::canopen::BasicSlave::OnWriteSignature = typename ::std::conditional< detail::IsCanopenBasic<T>::value, ::std::error_code(uint16_t idx, uint8_t subidx, T& new_val, T old_val), ::std::error_code(uint16_t idx, uint8_t subidx, T& new_val)>::type

protected

The signature of the callback function invoked on write (SDO download) access to the local object dictionary.

Note that the callback function SHOULD NOT throw exceptions. Since it is invoked from C, any exception that is thrown cannot be caught and will result in a call to std::terminate(). The lely::canopen::BasicLockable mutex implemented by this class is held for the duration of the call.

Parameters

idx	the object index.
subidx	the object sub-index.
new_val	the value to be written to the object dictionary. This value can be modified before it is committed.
old_val	the current value in the object dictionary (only for CANopen basic data types).

Returns: 0 on success, or an SDO abort code on error.

Definition at line 456 of file slave.hpp.

Constructor & Destructor Documentation

◆ BasicSlave()

lely::canopen::BasicSlave::BasicSlave	(	aio::TimerBase &	timer,
		aio::CanBusBase &	bus,
		const ::std::string &	dcf_txt,
		const ::std::string &	dcf_bin = `""`,
		uint8_t	id = `0xff`
	)

Creates a new CANopen slave.

After creation, the slave 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 72 of file slave.cpp.

Member Function Documentation

◆ operator[]() [1/2]

Object lely::canopen::BasicSlave::operator[] ( uint16_t idx )

inlineprotected

Returns a mutator object that provides read/write access to the specified CANopen object in the local object dictionary.

Note that this function succeeds even if the object does not exist.

Parameters

idx	the object index.

Returns: a mutator object for a CANopen object in the local object dictionary.

Definition at line 468 of file slave.hpp.

◆ operator[]() [2/2]

ConstObject lely::canopen::BasicSlave::operator[] ( uint16_t idx ) const

inlineprotected

Returns an accessor object that provides read-only access to the specified CANopen object in the local object dictionary.

Note that this function succeeds even if the object does not exist.

Parameters

idx	the object index.

Returns: an accessor object for a CANopen object in the local object dictionary.

Definition at line 480 of file slave.hpp.

◆ OnRead() [1/2]

template<class T >

typename ::std::enable_if<detail::IsCanopenType<T>::value>::type lely::canopen::BasicSlave::OnRead	(	uint16_t	idx,
		uint8_t	subidx,
		::std::function< OnReadSignature< T >>	ind
	)

protected

Registers a callback function to be invoked on read (SDO upload) access to the specified CANopen sub-object in the local object dictionary.

Note that the callback function is not invoked if the access checks fail.

Parameters

idx	the object index.
subidx	the object sub-index.
ind	the indication function to be called on read access to the specified sub-object.

Exceptions

lely::canopen::SdoError on error.

◆ OnRead() [2/2]

template<class T >

typename ::std::enable_if<detail::IsCanopenType<T>::value>::type lely::canopen::BasicSlave::OnRead	(	uint16_t	idx,
		uint8_t	subidx,
		::std::function< OnReadSignature< T >>	ind,
		::std::error_code &	ec
	)

protected

Registers a callback function to be invoked on read (SDO upload) access to the specified CANopen sub-object in the local object dictionary.

Note that the callback function is not invoked if the access checks fail.

Parameters

idx	the object index.
subidx	the object sub-index.
ind	the indication function to be called on read access to the specified sub-object.
ec	on error, the SDO abort code is stored in ec.

◆ OnWrite() [1/2]

template<class T >

typename ::std::enable_if<detail::IsCanopenType<T>::value>::type lely::canopen::BasicSlave::OnWrite	(	uint16_t	idx,
		uint8_t	subidx,
		::std::function< OnWriteSignature< T >>	ind
	)

protected

Registers a callback function to be invoked on write (SDO download) access to the specified CANopen sub-object in the local object dictionary.

Note that the callback function is not invoked if the access or range checks fail.

Parameters

idx	the object index.
subidx	the object sub-index.
ind	the indication function to be called on read access to the specified sub-object.

Exceptions

lely::canopen::SdoError on error.

◆ OnWrite() [2/2]

template<class T >

typename ::std::enable_if<detail::IsCanopenType<T>::value>::type lely::canopen::BasicSlave::OnWrite	(	uint16_t	idx,
		uint8_t	subidx,
		::std::function< OnWriteSignature< T >>	ind,
		::std::error_code &	ec
	)

protected

Registers a callback function to be invoked on write (SDO download) access to the specified CANopen sub-object in the local object dictionary.

Note that the callback function is not invoked if the access or range checks fail.

Parameters

idx	the object index.
subidx	the object sub-index.
ind	the indication function to be called on read access to the specified sub-object.
ec	on error, the SDO abort code is stored in ec.

◆ OnLifeGuarding()

virtual void lely::canopen::BasicSlave::OnLifeGuarding ( bool occurred )

inlineprotectedvirtualnoexcept

The function invoked when a life guarding event occurs or is resolved.

Note that depending on the value of object 1029:01 (Error behavior object), the occurrence of a life guarding event MAY trigger an NMT state transition. If so, this function is called after the state change completes.

Parameters

occurred true if the life guarding event occurred, false if it was resolved.

Definition at line 561 of file slave.hpp.

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

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

Data Structures

Public Member Functions

Protected Types

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ OnReadSignature

◆ OnWriteSignature

Constructor & Destructor Documentation

◆ BasicSlave()

Member Function Documentation

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ OnRead() [1/2]

◆ OnRead() [2/2]

◆ OnWrite() [1/2]

◆ OnWrite() [2/2]

◆ OnLifeGuarding()