The Client-SDO queue. More...

#include <sdo.hpp>

Data Structures
class	DownloadRequest
	An SDO download request. More...

struct	Impl_
	The internal implementation of the Client-SDO queue. More...

class	UploadRequest
	An SDO upload request. More...

Public Types
using	duration = ::std::chrono::milliseconds
	The type used to represent an SDO timeout duration.

using	DownloadSignature = void(uint16_t idx, uint8_t subidx, ::std::error_code ec)
	The signature of the callback function invoked on completion of an SDO download request. More...

template<class T >
using	UploadSignature = void(uint16_t idx, uint8_t subidx, ::std::error_code ec, T value)
	The signature of the callback function invoked on completion of an SDO upload request. More...

Public Member Functions
	Sdo ()
	Default-constructs an invalid Client-SDO queue.

	Sdo (CANNet *net, uint8_t id)
	Constructs a Client-SDO queue for a Client-SDO from the predefined connection set (the default SDO). More...

	Sdo (CANNet net, CODev dev, uint8_t num)
	Constructs a Client-SDO queue for a pre-configured Client-SDO. More...

	Sdo (COCSDO *sdo)
	Constructs a Client-SDO queue from an existing Client-SDO service. More...

	~Sdo ()
	Destructs the Client-SDO queue. More...

	operator bool () const noexcept
	Checks whether `*this` is a valid Client-SDO queue.

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	SubmitDownload (DownloadRequest< T > &req)
	Queues an SDO download request.

template<class T , class F , class U = typename ::std::decay<T>::type>
typename ::std::enable_if< detail::IsCanopenType< typename ::std::decay< U >::type >::value >::type	SubmitDownload (uint16_t idx, uint8_t subidx, T &&value, aio::ExecutorBase &exec, F &&con, const duration &timeout)
	Queues an SDO download request. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value, ::std::size_t >::type	CancelDownload (DownloadRequest< T > &req, SdoErrc ac)
	Aborts an SDO download request. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	SubmitUpload (UploadRequest< T > &req)
	Queues an SDO upload request.

template<class T , class F >
typename ::std::enable_if< detail::IsCanopenType< T >::value >::type	SubmitUpload (uint16_t idx, uint8_t subidx, aio::ExecutorBase &exec, F &&con, const duration &timeout)
	Queues an SDO upload request. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value, ::std::size_t >::type	CancelUpload (UploadRequest< T > &req, SdoErrc ac)
	Aborts an SDO upload request. More...

::std::size_t	Cancel (SdoErrc ac)
	Aborts the ongoing and all pending SDO requests. More...

template<class T , class U = typename ::std::decay<T>::type>
typename ::std::enable_if< detail::IsCanopenType< U >::value, aio::Future<::std::error_code > >::type	AsyncDownload (aio::LoopBase &loop, aio::ExecutorBase &exec, int16_t idx, uint8_t subidx, T &&value, const duration &timeout)
	Queues an asynchronous SDO download request and returns a future. More...

template<class T >
typename ::std::enable_if< detail::IsCanopenType< T >::value, aio::Future<::std::tuple<::std::error_code, T > > >::type	AsyncUpload (aio::LoopBase &loop, aio::ExecutorBase &exec, int16_t idx, uint8_t subidx, const duration &timeout)
	Queues an asynchronous SDO upload request and returns a future. More...

Detailed Description

The Client-SDO queue.

Definition at line 48 of file sdo.hpp.

Member Typedef Documentation

◆ DownloadSignature

using lely::canopen::Sdo::DownloadSignature = void(uint16_t idx, uint8_t subidx, ::std::error_code ec)

The signature of the callback function invoked on completion of an SDO download request.

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().

Parameters

idx	the object index.
subidx	the object sub-index.
ec	the SDO abort code (0 on success).

Definition at line 128 of file sdo.hpp.

◆ UploadSignature

template<class T >

using lely::canopen::Sdo::UploadSignature = void(uint16_t idx, uint8_t subidx, ::std::error_code ec, T value)

The signature of the callback function invoked on completion of an SDO upload request.

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().

Parameters

idx	the object index.
subidx	the object sub-index.
ec	the SDO abort code (0 on success).
value	the value received from the SDO server.

Definition at line 193 of file sdo.hpp.

Constructor & Destructor Documentation

◆ Sdo() [1/3]

lely::canopen::Sdo::Sdo	(	CANNet *	net,
		uint8_t	id
	)

Constructs a Client-SDO queue for a Client-SDO from the predefined connection set (the default SDO).

In general, only a CANopen master is allowed to use the default SDO.

Parameters

net	a pointer to a CAN network interface (from <lely/can/net.hpp>).
id	the node-ID of the SDO server (in the range [1..127]).

Definition at line 324 of file sdo.cpp.

◆ Sdo() [2/3]

lely::canopen::Sdo::Sdo	(	CANNet *	net,
		CODev *	dev,
		uint8_t	num
	)

Constructs a Client-SDO queue for a pre-configured Client-SDO.

The SDO client parameter record MUST exist in the object dictionary (object 1280 to 12FF).

Parameters

net	a pointer to a CAN network interface (from <lely/can/net.hpp>).
dev	a pointer to a CANopen device (from <lely/co/dev.hpp>).
num	the SDO number (in the range [1..128]).

Definition at line 326 of file sdo.cpp.

◆ Sdo() [3/3]

lely::canopen::Sdo::Sdo ( COCSDO * sdo )

explicit

Constructs a Client-SDO queue from an existing Client-SDO service.

It is the responsibility of the caller to ensure that the SDO service remains available during the lifetime of the queue.

Parameters

sdo	a pointer to a CANopen Client-SDO service (from <lely/co/csdo.hpp>).

Definition at line 329 of file sdo.cpp.

◆ ~Sdo()

lely::canopen::Sdo::~Sdo ( )

default

Destructs the Client-SDO queue.

Any ongoing or pending SDO requests are terminated with abort code SdoErrc::DATA_CTL.

Member Function Documentation

◆ SubmitDownload()

template<class T , class F , class U = typename ::std::decay<T>::type>

typename ::std::enable_if< detail::IsCanopenType<typename ::std::decay<U>::type>::value>::type lely::canopen::Sdo::SubmitDownload	(	uint16_t	idx,
		uint8_t	subidx,
		T &&	value,
		aio::ExecutorBase &	exec,
		F &&	con,
		const duration &	timeout
	)

inline

Queues an SDO download request.

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

Parameters

idx	the object index.
subidx	the object sub-index.
value	the value to be written.
exec	the executor used to execute the confirmation function.
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.

Definition at line 317 of file sdo.hpp.

◆ CancelDownload()

template<class T >

typename ::std::enable_if<detail::IsCanopenType<T>::value, ::std::size_t>::type lely::canopen::Sdo::CancelDownload	(	DownloadRequest< T > &	req,
		SdoErrc	ac
	)

inline

Aborts an SDO download request.

Parameters

req	the request to be aborted.
ac	the SDO abort code in case of an ongoing request.

Definition at line 334 of file sdo.hpp.

◆ SubmitUpload()

template<class T , class F >

typename ::std::enable_if<detail::IsCanopenType<T>::value>::type lely::canopen::Sdo::SubmitUpload	(	uint16_t	idx,
		uint8_t	subidx,
		aio::ExecutorBase &	exec,
		F &&	con,
		const duration &	timeout
	)

inline

Queues an SDO upload request.

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

Parameters

idx	the object index.
subidx	the object sub-index.
exec	the executor used to execute the confirmation function.
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.

Definition at line 361 of file sdo.hpp.

◆ CancelUpload()

template<class T >

typename ::std::enable_if<detail::IsCanopenType<T>::value, ::std::size_t>::type lely::canopen::Sdo::CancelUpload	(	UploadRequest< T > &	req,
		SdoErrc	ac
	)

inline

Aborts an SDO upload request.

Parameters

req	the request to be aborted.
ac	the SDO abort code in case of an ongoing request.

Definition at line 377 of file sdo.hpp.

◆ Cancel()

std::size_t lely::canopen::Sdo::Cancel ( SdoErrc ac )

Aborts the ongoing and all pending SDO requests.

Parameters

ac	the SDO abort code.

Definition at line 346 of file sdo.cpp.

◆ AsyncDownload()

template<class T , class U = typename ::std::decay<T>::type>

typename ::std::enable_if<detail::IsCanopenType<U>::value, aio::Future<::std::error_code> >::type lely::canopen::Sdo::AsyncDownload	(	aio::LoopBase &	loop,
		aio::ExecutorBase &	exec,
		int16_t	idx,
		uint8_t	subidx,
		T &&	value,
		const duration &	timeout
	)

inline

Queues an asynchronous SDO download request and returns a future.

Parameters

loop	the event loop used to create the future.
exec	the executor used to create the future. The executor SHOULD be based on loop.
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.

Definition at line 407 of file sdo.hpp.

◆ AsyncUpload()

template<class T >

typename ::std::enable_if< detail::IsCanopenType<T>::value, aio::Future<::std::tuple<::std::error_code, T> > >::type lely::canopen::Sdo::AsyncUpload	(	aio::LoopBase &	loop,
		aio::ExecutorBase &	exec,
		int16_t	idx,
		uint8_t	subidx,
		const duration &	timeout
	)

inline

Queues an asynchronous SDO upload request and returns a future.

Parameters

loop	the event loop used to create the future.
exec	the executor used to create the future. The executor SHOULD be based on loop.
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.

Definition at line 435 of file sdo.hpp.

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

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

Data Structures

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ DownloadSignature

◆ UploadSignature

Constructor & Destructor Documentation

◆ Sdo() [1/3]

◆ Sdo() [2/3]

◆ Sdo() [3/3]

◆ ~Sdo()

Member Function Documentation

◆ SubmitDownload()

◆ CancelDownload()

◆ SubmitUpload()

◆ CancelUpload()

◆ Cancel()

◆ AsyncDownload()

◆ AsyncUpload()