roboticslab::TransmitPdo Class Reference

Representation of TPDO protocol.

#include <PdoProtocol.hpp>

Inheritance diagram for roboticslab::TransmitPdo:

Classes
struct	ordered_call

Public Member Functions
bool	accept (const std::uint8_t *data, unsigned int size)
	Invoke registered callback on raw CAN message data.
template<typename... Ts, typename Fn >
void	registerHandler (Fn &&fn)
	Register callback. More...
void	unregisterHandler ()
	Unregister callback.
	PdoProtocol (std::uint8_t id, std::uint16_t cob, unsigned int n, SdoClient *sdo)
	Constructor, registers SDO client handle.
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 Types
using	HandlerFn = std::function< bool(const std::uint8_t *data, unsigned int size)>

Private Member Functions
template<typename T >
T	unpack (const std::uint8_t *buff, unsigned int *count)
void	unpackInternal (void *data, const std::uint8_t *buff, unsigned int size)

Private Attributes
HandlerFn	callback

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

registerHandler()

template<typename... Ts, typename Fn >

void roboticslab::TransmitPdo::registerHandler ( Fn &&  fn )

inline

Usually, you'll want to pass as many parameters to the callback function 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