roboticslab::EmcyConsumer Class Reference

Representation of CAN EMCY protocol.

#include <EmcyConsumer.hpp>

Public Types
using	code_t = std::pair< std::uint16_t, std::string >
	Emergency error code.

Public Member Functions
	EmcyConsumer ()
	Constructor.
	~EmcyConsumer ()
	Destructor.
bool	accept (const std::uint8_t *data)
	Invoke callback on parsed CAN message data.
template<typename T >
void	setErrorCodeRegistry ()
	Instantiate a non-default EMCY message parser.
template<typename Fn >
void	registerHandler (Fn &&fn)
	Register callback.
void	unregisterHandler ()
	Unregister callback.

Private Types
using	HandlerFn = std::function< void(code_t, std::uint8_t, const std::uint8_t *)>

Private Attributes
HandlerFn	callback
EmcyCodeRegistry *	codeRegistry

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

• libraries/CanOpenNodeLib/EmcyConsumer.hpp
• libraries/CanOpenNodeLib/EmcyConsumer.cpp