Wrapper for CAN protocol handles with handy accessors. More...
#include <CanOpenNode.hpp>
Inheritance diagram for roboticslab::CanOpenNode:
Public Member Functions | |
| CanOpenNode (unsigned int id, double sdoTimeout=SDO_TIMEOUT, double stateTimeout=STATE_MACHINE_TIMEOUT, ICanSenderDelegate *sender=nullptr) | |
| Constructor, creates and configures all handles. | |
| CanOpenNode (const CanOpenNode &)=delete | |
| Deleted copy constructor. | |
| CanOpenNode & | operator= (const CanOpenNode &)=delete |
| Deleted copy assingment operator. | |
| ~CanOpenNode () | |
| Destructor. | |
| void | configureSender (ICanSenderDelegate *sender) |
| Pass sender handle to internal CAN protocol handles. | |
| unsigned int | getId () const |
| Retrieve CAN node id. | |
| SdoClient * | sdo () const |
| Retrieve handle of SDO client instance. | |
| ReceivePdo * | rpdo1 () const |
| Retrieve handle of RPDO1 instance. | |
| ReceivePdo * | rpdo2 () const |
| Retrieve handle of RPDO2 instance. | |
| ReceivePdo * | rpdo3 () const |
| Retrieve handle of RPDO3 instance. | |
| ReceivePdo * | rpdo4 () const |
| Retrieve handle of RPDO4 instance. | |
| TransmitPdo * | tpdo1 () const |
| Retrieve handle of TPDO1 instance. | |
| TransmitPdo * | tpdo2 () const |
| Retrieve handle of TPDO2 instance. | |
| TransmitPdo * | tpdo3 () const |
| Retrieve handle of TPDO3 instance. | |
| TransmitPdo * | tpdo4 () const |
| Retrieve handle of TPDO4 instance. | |
| EmcyConsumer * | emcy () const |
| Retrieve handle of EMCY instance. | |
| NmtProtocol * | nmt () const |
| Retrieve handle of NMT instance. | |
| DriveStatusMachine * | driveStatus () const |
| Retrieve handle of drive state machine instance. | |
| bool | notifyMessage (const can_message &msg) override |
| Notify observers that a new CAN message has arrived. | |
 Public Member Functions inherited from roboticslab::ICanMessageNotifier | |
| virtual | ~ICanMessageNotifier ()=default |
| Virtual destructor. | |
Static Public Attributes | |
| static constexpr double | SDO_TIMEOUT = 0.1 |
| Timeout on SDO transfers (seconds) | |
| static constexpr double | STATE_MACHINE_TIMEOUT = 2.0 |
| Timeout on state machine transitions (seconds) | |
Private Attributes | |
| unsigned int | _id |
| SdoClient * | _sdo |
| ReceivePdo * | _rpdo1 |
| ReceivePdo * | _rpdo2 |
| ReceivePdo * | _rpdo3 |
| ReceivePdo * | _rpdo4 |
| TransmitPdo * | _tpdo1 |
| TransmitPdo * | _tpdo2 |
| TransmitPdo * | _tpdo3 |
| TransmitPdo * | _tpdo4 |
| EmcyConsumer * | _emcy |
| NmtProtocol * | _nmt |
| DriveStatusMachine * | _driveStatus |
Detailed Description
On construction, this class initializes all handles that define CAN protocols, even if clients are not going to use them all. Also, it forwards CAN messages to their corresponding protocol instances given the COB-ID.
The documentation for this class was generated from the following files:
- libraries/CanOpenNodeLib/CanOpenNode.hpp
- libraries/CanOpenNodeLib/CanOpenNode.cpp
