Lely core libraries  1.9.2
device.hpp
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1 
22 #ifndef LELY_COAPP_DEVICE_HPP_
23 #define LELY_COAPP_DEVICE_HPP_
24 
25 #include <lely/coapp/detail/type_traits.hpp>
26 #include <lely/coapp/sdo_error.hpp>
27 
28 #include <memory>
29 #include <typeinfo>
30 
31 namespace lely {
32 
33 // The CANopen device from <lely/co/dev.hpp>.
34 class CODev;
35 
36 namespace canopen {
37 
42 class Device {
43  public:
58  Device(const ::std::string& dcf_txt, const ::std::string& dcf_bin = "",
59  uint8_t id = 0xff, BasicLockable* mutex = nullptr);
60 
61  Device(const Device&) = delete;
62  Device(Device&&) = default;
63 
64  Device& operator=(const Device&) = delete;
65  Device& operator=(Device&&);
66 
68  uint8_t netid() const noexcept;
69 
71  uint8_t id() const noexcept;
72 
85  template <class T>
86  typename ::std::enable_if<detail::IsCanopenType<T>::value, T>::type Read(
87  uint16_t idx, uint8_t subidx) const;
88 
100  template <class T>
101  typename ::std::enable_if<detail::IsCanopenType<T>::value, T>::type Read(
102  uint16_t idx, uint8_t subidx, ::std::error_code& ec) const;
103 
115  template <class T>
116  typename ::std::enable_if<detail::IsCanopenBasic<T>::value>::type Write(
117  uint16_t idx, uint8_t subidx, T value);
118 
129  template <class T>
130  typename ::std::enable_if<detail::IsCanopenBasic<T>::value>::type Write(
131  uint16_t idx, uint8_t subidx, T value, ::std::error_code& ec);
132 
144  template <class T>
145  typename ::std::enable_if<detail::IsCanopenArray<T>::value>::type Write(
146  uint16_t idx, uint8_t subidx, const T& value);
147 
158  template <class T>
159  typename ::std::enable_if<detail::IsCanopenArray<T>::value>::type Write(
160  uint16_t idx, uint8_t subidx, const T& value, ::std::error_code& ec);
161 
173  void Write(uint16_t idx, uint8_t subidx, const char* value);
174 
185  void Write(uint16_t idx, uint8_t subidx, const char* value,
186  ::std::error_code& ec);
187 
200  void Write(uint16_t idx, uint8_t subidx, const char16_t* value);
201 
213  void Write(uint16_t idx, uint8_t subidx, const char16_t* value,
214  ::std::error_code& ec);
215 
228  void Write(uint16_t idx, uint8_t subidx, const void* p, ::std::size_t n);
229 
241  void Write(uint16_t idx, uint8_t subidx, const void* p, ::std::size_t n,
242  ::std::error_code& ec);
243 
244  protected:
245  ~Device();
246 
248  CODev* dev() const noexcept;
249 
261  const ::std::type_info& Type(uint16_t idx, uint8_t subidx) const;
262 
274  const ::std::type_info& Type(uint16_t idx, uint8_t subidx,
275  ::std::error_code& ec) const;
276 
290  template <class T>
291  typename ::std::enable_if<detail::IsCanopenType<T>::value, T>::type Get(
292  uint16_t idx, uint8_t subidx) const;
293 
306  template <class T>
307  typename ::std::enable_if<detail::IsCanopenType<T>::value, T>::type Get(
308  uint16_t idx, uint8_t subidx, ::std::error_code& ec) const;
309 
322  template <class T>
323  typename ::std::enable_if<detail::IsCanopenBasic<T>::value>::type Set(
324  uint16_t idx, uint8_t subidx, T value);
325 
337  template <class T>
338  typename ::std::enable_if<detail::IsCanopenBasic<T>::value>::type Set(
339  uint16_t idx, uint8_t subidx, T value, ::std::error_code& ec);
340 
353  template <class T>
354  typename ::std::enable_if<detail::IsCanopenArray<T>::value>::type Set(
355  uint16_t idx, uint8_t subidx, const T& value);
356 
368  template <class T>
369  typename ::std::enable_if<detail::IsCanopenArray<T>::value>::type Set(
370  uint16_t idx, uint8_t subidx, const T& value, ::std::error_code& ec);
371 
384  void Set(uint16_t idx, uint8_t subidx, const char* value);
385 
397  void Set(uint16_t idx, uint8_t subidx, const char* value,
398  ::std::error_code& ec);
399 
413  void Set(uint16_t idx, uint8_t subidx, const char16_t* value);
414 
427  void Set(uint16_t idx, uint8_t subidx, const char16_t* value,
428  ::std::error_code& ec);
429 
443  void Set(uint16_t idx, uint8_t subidx, const void* p, ::std::size_t n);
444 
457  void Set(uint16_t idx, uint8_t subidx, const void* p, ::std::size_t n,
458  ::std::error_code& ec);
459 
460  private:
461  struct Impl_;
462  ::std::unique_ptr<Impl_> impl_;
463 };
464 
465 } // namespace canopen
466 
467 } // namespace lely
468 
469 #endif // LELY_COAPP_DEVICE_HPP_
lely::canopen::Device::Get
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.
sdo_error.hpp
This header file is part of the C++ CANopen application library; it contains the SDO error declaratio...
lely::CODev
An opaque CANopen device type.
Definition: dev.hpp:76
lely::canopen::Device::Read
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.
lely::canopen::Device::netid
uint8_t netid() const noexcept
Returns the network-ID.
Definition: device.cpp:87
lely::canopen::Device::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.
Definition: device.cpp:78
lely::canopen::Device::Type
const ::std::type_info & Type(uint16_t idx, uint8_t subidx) const
Returns the type of a sub-object.
Definition: device.cpp:392
lely::canopen::BasicLockable
An abstract interface conforming to the BasicLockable concept.
Definition: coapp.hpp:40
type_traits.hpp
This header file is part of the C++ CANopen application library; it contains the CANopen type traits...
lely::canopen::Device::Write
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.
lely::canopen::Device::Impl_
The internal implementation of the CANopen device description.
Definition: device.cpp:38
lely::canopen::Device::dev
CODev * dev() const noexcept
Returns a pointer to the internal CANopen device from <lely/co/dev.hpp>.
Definition: device.cpp:387
lely::canopen::Device
The CANopen device description.
Definition: device.hpp:42
lely
Global namespace for the Lely Industries N.V. libraries.
Definition: buf.hpp:32
lely::canopen::Device::id
uint8_t id() const noexcept
Returns the node-ID.
Definition: device.cpp:94
lely::canopen::Device::Set
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.