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.
The documentation for this class was generated from the following files:
- libraries/CanOpenNodeLib/PdoProtocol.hpp
- libraries/CanOpenNodeLib/PdoProtocol.cpp
