The abstract driver interface for a remote CANopen node. More...

#include <driver.hpp>

Inheritance diagram for lely::canopen::DriverBase:

Public Member Functions
virtual aio::ExecutorBase	GetExecutor () const noexcept=0
	Returns the executor used to execute event handlers for this driver, including SDO confirmation functions.

virtual uint8_t	netid () const noexcept=0
	Returns the network-ID.

virtual uint8_t	id () const noexcept=0
	Returns the node-ID.

virtual void	OnCanState (CanState new_state, CanState old_state) noexcept=0
	The function invoked when a CAN bus state change is detected. More...

virtual void	OnCanError (CanError error) noexcept=0
	The function invoked when an error is detected on the CAN bus. More...

virtual void	OnCommand (NmtCommand cs) noexcept=0
	The function invoked when an NMT state change occurs on the master. More...

virtual void	OnNodeGuarding (bool occurred) noexcept=0
	The function invoked when a node guarding timeout event occurs or is resolved for the remote node. More...

virtual void	OnHeartbeat (bool occurred) noexcept=0
	The function invoked when a heartbeat timeout event occurs or is resolved for the remote node. More...

virtual void	OnState (NmtState st) noexcept=0
	The function invoked when an NMT state change or boot-up event is detected for the remote node by the heartbeat protocol. More...

virtual void	OnBoot (NmtState st, char es, const ::std::string &what) noexcept=0
	The function invoked when the NMT 'boot slave' process completes for the remote node. More...

virtual void	OnConfig (::std::function< void(::std::error_code ec)> res) noexcept=0
	The function invoked when the 'update configuration' step is reached during the NMT 'boot slave' process of the remote node. More...

virtual void	OnRpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept=0
	The function invoked when a Receive-PDO is processed by the master. More...

virtual void	OnRpdoError (int num, uint16_t eec, uint8_t er) noexcept=0
	The function invoked when a Receive-PDO length mismatch or timeout error occurs on the master. More...

virtual void	OnTpdo (int num, ::std::error_code ec, const void *p, ::std::size_t n) noexcept=0
	The function invoked after a Transmit-PDO is sent by the master or an error occurs. More...

virtual void	OnSync (uint8_t cnt, const Node::time_point &t) noexcept=0
	The function invoked when a SYNC message is sent/received by the master. More...

virtual void	OnSyncError (uint16_t eec, uint8_t er) noexcept=0
	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=0
	The function invoked when a TIME message is received by the master. More...

virtual void	OnEmcy (uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept=0
	The function invoked when an EMCY message is received from the remote node. More...

Detailed Description

The abstract driver interface for a remote CANopen node.

Definition at line 33 of file driver.hpp.

Member Function Documentation

◆ OnCanState()

virtual void lely::canopen::DriverBase::OnCanState	(	CanState	new_state,
		CanState	old_state
	)

pure virtualnoexcept

The function invoked when a CAN bus state change is detected.

See also: BasicMaster::OnCanState()

◆ OnCanError()

virtual void lely::canopen::DriverBase::OnCanError ( CanError error )

pure virtualnoexcept

The function invoked when an error is detected on the CAN bus.

See also: BasicMaster::OnCanError()

◆ OnCommand()

virtual void lely::canopen::DriverBase::OnCommand ( NmtCommand cs )

pure virtualnoexcept

The function invoked when an NMT state change occurs on the master.

Parameters

cs	the NMT command specifier.

See also: BasicMaster::OnCommand()

◆ OnNodeGuarding()

virtual void lely::canopen::DriverBase::OnNodeGuarding ( bool occurred )

pure virtualnoexcept

The function invoked when a node guarding timeout event occurs or is resolved for the remote node.

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

Parameters

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

See also: BasicMaster::OnNodeGuarding()

◆ OnHeartbeat()

virtual void lely::canopen::DriverBase::OnHeartbeat ( bool occurred )

pure virtualnoexcept

The function invoked when a heartbeat timeout event occurs or is resolved for the remote node.

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

Parameters

occurred true if the heartbeat timeout event occurred, false if it was resolved.

See also: BasicMaster::OnHeartbeat()

◆ OnState()

virtual void lely::canopen::DriverBase::OnState ( NmtState st )

pure virtualnoexcept

The function invoked when an NMT state change or boot-up event is detected for the remote node by the heartbeat protocol.

Parameters

st	the state of the remote node. Note that the NMT sub-states NmtState::RESET_NODE and NmtState::RESET_COMM are never reported for remote nodes.

See also: BasicMaster::OnState()

◆ OnBoot()

virtual void lely::canopen::DriverBase::OnBoot	(	NmtState	st,
		char	es,
		const ::std::string &	what
	)

pure virtualnoexcept

The function invoked when the NMT 'boot slave' process completes for the remote node.

Parameters

st	the state of the remote node (including the toggle bit (NmtState::TOGGLE) if node guarding is enabled).
es	the error status (in the range ['A'..'O'], or 0 on success): 'A': The CANopen device is not listed in object 1F81. 'B': No response received for upload request of object 1000. 'C': Value of object 1000 from CANopen device is different to value in object 1F84 (Device type). 'D': Value of object 1018:01 from CANopen device is different to value in object 1F85 (Vendor-ID). 'E': Heartbeat event. No heartbeat message received from CANopen device. 'F': Node guarding event. No confirmation for guarding request received from CANopen device. 'G': Objects for program download are not configured or inconsistent. 'H': Software update is required, but not allowed because of configuration or current status. 'I': Software update is required, but program download failed. 'J': Configuration download failed. 'K': Heartbeat event during start error control service. No heartbeat message received from CANopen device during start error control service. 'L': NMT slave was initially operational. (CANopen manager may resume operation with other CANopen devices) 'M': Value of object 1018:02 from CANopen device is different to value in object 1F86 (Product code). 'N': Value of object 1018:03 from CANopen device is different to value in object 1F87 (Revision number). 'O': Value of object 1018:04 from CANopen device is different to value in object 1F88 (Serial number).
what	if es is non-zero, contains a string explaining the error.

See also: BasicMaster::OnBoot()

◆ OnConfig()

virtual void lely::canopen::DriverBase::OnConfig ( ::std::function< void(::std::error_code ec)> res )

pure virtualnoexcept

The function invoked when the 'update configuration' step is reached during the NMT 'boot slave' process of the remote node.

The 'boot slave' process is halted until the result of the 'update configuration' step is communicated to the master.

Note that OnConfig() MUST be a non-blocking function; the configuration update MUST be executed asynchronously or run in a different thread.

Parameters

res	the function to invoke on completion of the 'update configuration' step. The argument to res is the result: 0 on success, or an SDO abort code on error.

See also: BasicMaster::OnConfig()

◆ OnRpdo()

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

pure virtualnoexcept

The function invoked when a Receive-PDO is processed by the master.

In case of a PDO length mismatch error, OnRpdoError() is invoked after this function.

Parameters

num	the PDO number (in the range [1..512]).
ec	the SDO abort code: 0 on success; SdoErrc::NO_OBJ or SdoErrc::NO_SUB if one of the objects or sub-objects does not exist, respectively; SdoErrc::NO_WRITE if one of the sub-objects is read only; SdoErrc::NO_PDO if one of the sub-objects cannot be mapped to a PDO; SdoErrc::PDO_LEN if the number and length of the mapped objects exceeds the PDO length (OnRpdoError() will be invoked after this function returns); the abort code generated by the SDO download request to the local object dictionary.
p	a pointer to the bytes received.
n	the number of bytes at p.

See also: BasicMaster::OnRpdo()

◆ OnRpdoError()

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

pure virtualnoexcept

The function invoked when a Receive-PDO length mismatch or timeout error occurs on the master.

Parameters

num	the PDO number (in the range [1..512]).
eec	the emergency error code: 0x8210: PDO not processed due to length error; 0x8220: PDO length exceeded; 0x8250: RPDO timeout.
er	the error register (0x10).

See also: BasicMaster::OnRpdoError()

◆ OnTpdo()

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

pure virtualnoexcept

The function invoked after a Transmit-PDO is sent by the master or an error occurs.

Parameters

num	the PDO number (in the range [1..512]).
ec	the SDO abort code : 0 on success; SdoErrc::NO_OBJ or SdoErrc::NO_SUB if one of the objects or sub-objects does not exist, respectively; SdoErrc::NO_READ if one of the sub-objects is write only; SdoErrc::NO_PDO if one of the sub-objects cannot be mapped to a PDO; SdoErrc::PDO_LEN if the number and length of the mapped objects exceeds the PDO length; SdoErrc::TIMEOUT if the synchronous time window expires; the abort code generated by the SDO upload request to the local object dictionary.
p	a pointer to the bytes sent.
n	the number of bytes at p.

See also: BasicMaster::OnTpdo()

◆ OnSync()

virtual void lely::canopen::DriverBase::OnSync	(	uint8_t	cnt,
		const Node::time_point &	t
	)

pure virtualnoexcept

The function invoked when a SYNC message is sent/received by the master.

Note that this function is called after all PDOs are processed/sent.

Parameters

cnt	the counter (in the range [1..240]), or 0 if the SYNC message is empty.
t	the time at which the SYNC message was sent/received.

See also: BasicMaster::OnSync()

◆ OnSyncError()

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

pure virtualnoexcept

The function invoked when the data length of a received SYNC message does not match.

Parameters

eec	the emergency error code (0x8240).
er	the error register (0x10).

See also: BasicMaster::OnSyncError()

◆ OnTime()

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

pure virtualnoexcept

The function invoked when a TIME message is received by the master.

Parameters

abs_time a time point representing the received time stamp.

See also: BasicMaster::OnTime()

◆ OnEmcy()

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

pure virtualnoexcept

The function invoked when an EMCY message is received from the remote node.

Parameters

eec	the emergency error code.
er	the error register.
msef	the manufacturer-specific error code.

See also: BasicMaster::OnEmcy()

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

include/lely/coapp/driver.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ OnCanState()

◆ OnCanError()

◆ OnCommand()

◆ OnNodeGuarding()

◆ OnHeartbeat()

◆ OnState()

◆ OnBoot()

◆ OnConfig()

◆ OnRpdo()

◆ OnRpdoError()

◆ OnTpdo()

◆ OnSync()

◆ OnSyncError()

◆ OnTime()

◆ OnEmcy()