roboticslab::SdoClient Class Reference

Representation of SDO client protocol. More...

#include <SdoClient.hpp>

Public Member Functions
	SdoClient (std::uint8_t id, std::uint16_t cobRx, std::uint16_t cobTx, double timeout, ICanSenderDelegate *sender=nullptr)
	Constructor, registers CAN sender handle.
std::uint16_t	getCobIdRx () const
	Retrieve COB ID of SDO packages received by the drive.
std::uint16_t	getCobIdTx () const
	Retrieve COB ID of SDO packages sent by the drive.
void	configureSender (ICanSenderDelegate *sender)
	Configure CAN sender delegate handle.
bool	notify (const std::uint8_t *raw)
	Notify observers on an SDO package sent by the drive.
bool	ping ()
	Test whether the node is available or not.
template<typename T >
bool	upload (const std::string &name, T *data, std::uint16_t index, std::uint8_t subindex=0x00)
	Request an SDO package from the drive, only integral types. More...
template<typename T , typename Fn >
bool	upload (const std::string &name, Fn &&fn, std::uint16_t index, std::uint8_t subindex=0x00)
	Request an SDO package from the drive with callback, only integral types. More...
template<typename T >
bool	download (const std::string &name, T data, std::uint16_t index, std::uint8_t subindex=0x00)
	Send an SDO package to the drive, only integral types. More...
bool	upload (const std::string &name, std::string &s, std::uint16_t index, std::uint8_t subindex=0x00)
	Request an SDO package from the drive, only string type. More...
template<typename Fn >
bool	upload (const std::string &name, Fn &&fn, std::uint16_t index, std::uint8_t subindex=0x00)
	Request an SDO package from the drive with callback, only string type. More...
bool	download (const std::string &name, const std::string &s, std::uint16_t index, std::uint8_t subindex=0x00)
	Send an SDO package to the drive, only string type. More...
bool	download (const std::string &name, const char *s, std::uint16_t index, std::uint8_t subindex=0x00)
	String literal overload, overrides templated variant.

Private Member Functions
bool	send (const std::uint8_t *msg)
bool	uploadInternal (const std::string &name, void *data, std::uint32_t size, std::uint16_t index, std::uint8_t subindex)
bool	downloadInternal (const std::string &name, const void *data, std::uint32_t size, std::uint16_t index, std::uint8_t subindex)
bool	performTransfer (const std::string &name, const std::uint8_t *req, std::uint8_t *resp)

Private Attributes
std::uint8_t	id
std::uint16_t	cobRx
std::uint16_t	cobTx
std::string	logId
ICanSenderDelegate *	sender
TypedStateObserver< std::uint8_t[]>	stateObserver

Detailed Description

Provides access to SDO reads and writes in a user-friendly manner, sparing clients the need of building char arrays and such. Uses CAN terminology ("upload" means reads from the drive, "downloads" means writes to the drive). Supports normal (segmented) and expedited transfers. Obtains data size from the upload/download data type and takes care of managing the handshake. SDO transfers block with timeout and always wait for the response or confirm message from the drive, signalizing failures accordingly. Also supports SDO abort protocol.

Member Function Documentation

download() [1/2]

bool SdoClient::download	(	const std::string &	name,
		const std::string &	s,
		std::uint16_t	index,
		std::uint8_t	subindex = 0x00
	)

Parameters

name	Description of the CAN dictionary object.
s	String to be sent.
index	Index of targeted CAN dictionary object.
index	Subindex of targeted CAN dictionary object.

Returns

True on success, false on timeout.

download() [2/2]

template<typename T >

bool roboticslab::SdoClient::download ( const std::string &  name, T  data, std::uint16_t  index, std::uint8_t  subindex = 0x00  )

inline

Template Parameters

T	Integral data type.

Parameters

name	Description of the CAN dictionary object.
data	Value to be sent.
index	Index of targeted CAN dictionary object.
index	Subindex of targeted CAN dictionary object.

Returns

True on success, false on timeout.

upload() [1/4]

template<typename T , typename Fn >

bool roboticslab::SdoClient::upload ( const std::string &  name, Fn &&  fn, std::uint16_t  index, std::uint8_t  subindex = 0x00  )

inline

Template Parameters

T	Integral data type.
Fn	Function object type.

Parameters

name	Description of the CAN dictionary object.
fn	Callback function, will be invoked with the received CAN data as input parameter.
index	Index of targeted CAN dictionary object.
index	Subindex of targeted CAN dictionary object.

Returns

True on success, false on timeout.

upload() [2/4]

template<typename Fn >

bool roboticslab::SdoClient::upload ( const std::string &  name, Fn &&  fn, std::uint16_t  index, std::uint8_t  subindex = 0x00  )

inline

Template Parameters

Fn	Function object type.

Parameters

name	Description of the CAN dictionary object.
fn	Callback function, will be invoked with the received CAN data as input parameter.
index	Index of targeted CAN dictionary object.
index	Subindex of targeted CAN dictionary object.

Returns

True on success, false on timeout.

upload() [3/4]

bool SdoClient::upload	(	const std::string &	name,
		std::string &	s,
		std::uint16_t	index,
		std::uint8_t	subindex = 0x00
	)

Parameters

name	Description of the CAN dictionary object.
s	Output string value.
index	Index of targeted CAN dictionary object.
index	Subindex of targeted CAN dictionary object.

Returns

True on success, false on timeout.

upload() [4/4]

template<typename T >

bool roboticslab::SdoClient::upload ( const std::string &  name, T *  data, std::uint16_t  index, std::uint8_t  subindex = 0x00  )

inline

Template Parameters

T	Integral data type.

Parameters

name	Description of the CAN dictionary object.
data	Pointer to an external storage, will be populated with received CAN data.
index	Index of targeted CAN dictionary object.
index	Subindex of targeted CAN dictionary object.

Returns

True on success, false on timeout.

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

• libraries/CanOpenNodeLib/SdoClient.hpp
• libraries/CanOpenNodeLib/SdoClient.cpp