roboticslab::PdoProtocol Class Reference

Abstract representation of PDO protocol. More...

#include <PdoProtocol.hpp>

Inheritance diagram for roboticslab::PdoProtocol:

Public Member Functions
	PdoProtocol (std::uint8_t id, std::uint16_t cob, unsigned int n, SdoClient *sdo)
	Constructor, registers SDO client handle.
virtual	~PdoProtocol ()=default
	Virtual destructor.
std::uint16_t	getCobId () const
	Retrieve COB ID.
bool	configure (const PdoConfiguration &config)
	Configure this PDO drive-side via SDO packages.

Protected Types
enum class	PdoType { RPDO , TPDO }
	PDO type.

Protected Member Functions
virtual PdoType	getType () const =0
	Retrieve PDO type.

Static Protected Member Functions
template<typename... Tn>
static constexpr std::size_t	size ()

Protected Attributes
std::uint8_t	id
std::uint16_t	cob
unsigned int	n
SdoClient *	sdo

Detailed Description

See PdoConfiguration regarding how PDO configuration works.

Member Function Documentation

getType()

virtual PdoType roboticslab::PdoProtocol::getType ( ) const

protectedpure virtual

Implemented in roboticslab::ReceivePdo, and roboticslab::TransmitPdo.

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

• libraries/CanOpenNodeLib/PdoProtocol.hpp
• libraries/CanOpenNodeLib/PdoProtocol.cpp