roboticslab::NmtProtocol Class Reference

Representation of NMT protocol.

#include <NmtProtocol.hpp>

Public Member Functions
	NmtProtocol (std::uint8_t id, ICanSenderDelegate *sender=nullptr)
	Constructor, registers CAN sender handle.
void	configureSender (ICanSenderDelegate *sender)
	Configure CAN sender delegate handle.
bool	issueServiceCommand (NmtService command)
	Send NMT service indication.
bool	accept (const std::uint8_t *data)
	Invoke callback on parsed CAN message data.
template<typename Fn >
void	registerHandler (Fn &&fn)
	Register callback.
void	unregisterHandler ()
	Unregister callback.

Static Public Attributes
static constexpr std::uint8_t	BROADCAST = 0
	Broadcast CAN ID.

Private Types
using	HandlerFn = std::function< void(NmtState)>

Private Attributes
std::uint8_t	id
ICanSenderDelegate *	sender
HandlerFn	callback

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

• libraries/CanOpenNodeLib/NmtProtocol.hpp
• libraries/CanOpenNodeLib/NmtProtocol.cpp