roboticslab::ReceivePdo Class Reference

Representation of RPDO protocol.

#include <PdoProtocol.hpp>

Inheritance diagram for roboticslab::ReceivePdo:

Public Member Functions
	ReceivePdo (std::uint8_t id, std::uint16_t cob, unsigned int n, SdoClient *sdo, ICanSenderDelegate *sender=nullptr)
	Constructor, registers SDO and CAN sender handles.
void	configureSender (ICanSenderDelegate *sender)
	Configure CAN sender delegate handle.
template<typename... Ts>
bool	write (Ts... data)
	Send data to the drive.
Public Member Functions inherited from roboticslab::PdoProtocol
	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 Member Functions
PdoType	getType () const override
	Retrieve PDO type.

Private Member Functions
template<typename T >
void	pack (const T *data, std::uint8_t *buff, unsigned int *count)
void	packInternal (std::uint8_t *buff, const void *data, unsigned int size)
bool	writeInternal (const std::uint8_t *data, unsigned int size)

Private Attributes
ICanSenderDelegate *	sender

Additional Inherited Members
Protected Types inherited from roboticslab::PdoProtocol
enum class	PdoType { RPDO , TPDO }
	PDO type.
Static Protected Member Functions inherited from roboticslab::PdoProtocol
template<typename... Tn>
static constexpr std::size_t	size ()
Protected Attributes inherited from roboticslab::PdoProtocol
std::uint8_t	id
std::uint16_t	cob
unsigned int	n
SdoClient *	sdo

Member Function Documentation

getType()

PdoType roboticslab::ReceivePdo::getType ( ) const

inlineoverrideprotectedvirtual

Implements roboticslab::PdoProtocol.

write()

template<typename... Ts>

bool roboticslab::ReceivePdo::write ( Ts...  data )

inline

Usually, you'll want to pass as many parameters as CAN dictionary objects have been mapped. Only integral types allowed, cumulative size cannot exceed 8 bytes.

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

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