lely::canopen::IoContext Class Reference

The I/O context. More...

#include <io_context.hpp>

Inheritance diagram for lely::canopen::IoContext:

Data Structures
struct	Impl_
	The internal implementation of the I/O context. More...

Public Member Functions
	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
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	OnCanState (CanState new_state, CanState old_state) noexcept
	The function invoked when a CAN bus state change is detected. More...
virtual void	OnCanError (CanError error) noexcept
	The function invoked when an error is detected on the CAN bus. More...

Detailed Description

The I/O context.

This context manages all timer and I/O events on the CAN bus.

Definition at line 42 of file io_context.hpp.

Constructor & Destructor Documentation

IoContext()

lely::canopen::IoContext::IoContext	(	aio::TimerBase &	timer,
		aio::CanBusBase &	bus,
		BasicLockable *	mutex = nullptr
	)

Creates a new I/O context.

Parameters

timer	the timer used for CANopen events.
bus	a handle to the CAN bus.
mutex	an (optional) pointer to the mutex to be locked while timer and I/O events are processed. The mutex MUST be unlocked when any public member function is invoked; it will be locked for the duration of any call to a virtual member function (OnCanState() or OnCanError()).

Definition at line 74 of file io_context.cpp.

Member Function Documentation

Post()

template<class F >

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

inline

Schedules the specified Callable object for execution.

See also

GetExecutor()

Definition at line 70 of file io_context.hpp.

SetTime()

void lely::canopen::IoContext::SetTime ( )

protected

Update the CAN network time.

If a mutex was passed to the constructor, it MUST be locked for the duration of this call.

Definition at line 91 of file io_context.cpp.

OnCanState()

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

inlineprotectedvirtualnoexcept

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

The state is represented by one the CanState::ACTIVE, CanState::PASSIVE or CanState::BUSOFF values.

Parameters

new_state	the current state of the CAN bus.
old_state	the previous state of the CAN bus.

Reimplemented in lely::canopen::AsyncMaster, lely::canopen::BasicMaster, and lely::canopen::Node.

Definition at line 104 of file io_context.hpp.

OnCanError()

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

inlineprotectedvirtualnoexcept

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

Parameters

error

a bitwise combination of CanError::BIT, CanError::STUFF, CanError::CRC, CanError::FORM, CanError::ACK and CanError::OTHER.

Reimplemented in lely::canopen::AsyncMaster, and lely::canopen::BasicMaster.

Definition at line 117 of file io_context.hpp.

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

• include/lely/coapp/io_context.hpp
• src/coapp/io_context.cpp