yarp-devices
Classes | Enumerations
CanOpenNodeLib

Collection of classes and utilities to interface with CANopen. More...

Classes

class  roboticslab::CanOpenNode
 Wrapper for CAN protocol handles with handy accessors. More...
 
class  roboticslab::DriveStatusMachine
 Representation of a CiA 402 state machine controller. More...
 
class  roboticslab::EmcyCodeRegistry
 Generic EMCY message parser. More...
 
class  roboticslab::EmcyConsumer
 Representation of CAN EMCY protocol. More...
 
class  roboticslab::NmtProtocol
 Representation of NMT protocol. More...
 
class  roboticslab::PdoTransmissionType
 Wrapped enumeration of a PDO transmission type. More...
 
class  roboticslab::PdoConfiguration
 Set of SDO configuration values for a PdoProtocol. More...
 
class  roboticslab::PdoProtocol
 Abstract representation of PDO protocol. More...
 
class  roboticslab::ReceivePdo
 Representation of RPDO protocol. More...
 
class  roboticslab::TransmitPdo
 Representation of TPDO protocol. More...
 
class  roboticslab::SdoClient
 Representation of SDO client protocol. More...
 

Enumerations

enum class  roboticslab::DriveState {
  roboticslab::NOT_READY_TO_SWITCH_ON , roboticslab::SWITCH_ON_DISABLED , roboticslab::READY_TO_SWITCH_ON , roboticslab::SWITCHED_ON ,
  roboticslab::OPERATION_ENABLED , roboticslab::QUICK_STOP_ACTIVE , roboticslab::FAULT_REACTION_ACTIVE , roboticslab::FAULT
}
 CiA 402 drive states (associated to statusword). More...
 
enum class  roboticslab::DriveTransition : std::uint16_t {
  roboticslab::SHUTDOWN = 0x0006 , roboticslab::SWITCH_ON = 0x0007 , roboticslab::DISABLE_VOLTAGE = 0x0000 , roboticslab::QUICK_STOP = 0x0002 ,
  roboticslab::ENABLE_OPERATION = 0x000F , roboticslab::FAULT_RESET = 0x0080 , roboticslab::DISABLE_OPERATION = SWITCH_ON
}
 CiA 402 drive transitions (associated to controlword). More...
 
enum class  roboticslab::NmtService : std::uint8_t {
  roboticslab::START_REMOTE_NODE = 1 , roboticslab::STOP_REMOTE_NODE = 2 , roboticslab::ENTER_PRE_OPERATIONAL = 128 , roboticslab::RESET_NODE = 129 ,
  roboticslab::RESET_COMMUNICATION = 130
}
 NMT service commands. More...
 
enum class  roboticslab::NmtState : std::uint8_t { roboticslab::BOOTUP = 0 , roboticslab::STOPPED = 4 , roboticslab::OPERATIONAL = 5 , roboticslab::PRE_OPERATIONAL = 127 }
 NMT state machine. More...
 

Detailed Description

Enumeration Type Documentation

◆ DriveState

Enumerator
NOT_READY_TO_SWITCH_ON 

Not ready to switch on state.

SWITCH_ON_DISABLED 

Switch on disabled state.

READY_TO_SWITCH_ON 

Ready to switch on state.

SWITCHED_ON 

Switched on (operation disabled) state.

OPERATION_ENABLED 

Operation enabled state.

QUICK_STOP_ACTIVE 

Quick stop active state.

FAULT_REACTION_ACTIVE 

Fault reaction active state.

FAULT 

Fault state.

◆ DriveTransition

enum roboticslab::DriveTransition : std::uint16_t
strong
Enumerator
SHUTDOWN 

Shutdown command (xxxx.xxxx.0xxx.x110)

SWITCH_ON 

Switch on command (xxxx.xxxx.0xxx.0111)

DISABLE_VOLTAGE 

Disable voltage command (xxxx.xxxx.0xxx.xx0x)

QUICK_STOP 

Quick stop command (xxxx.xxxx.0xxx.x01x)

ENABLE_OPERATION 

Enable operation command (xxxx.xxxx.0xxx.1111)

FAULT_RESET 

Reset fault command (xxxx.xxxx.1xxx.xxxx)

DISABLE_OPERATION 

Disable operation command, alias for DriveTransition::SWITCH_ON.

◆ NmtService

enum roboticslab::NmtService : std::uint8_t
strong
Enumerator
START_REMOTE_NODE 

Start remote node indication.

STOP_REMOTE_NODE 

Stop remote node indication.

ENTER_PRE_OPERATIONAL 

Enter pre-operational indication.

RESET_NODE 

Reset node indication.

RESET_COMMUNICATION 

Reset communication indication.

◆ NmtState

enum roboticslab::NmtState : std::uint8_t
strong
Enumerator
BOOTUP 

Initial bootup.

STOPPED 

Stopped state.

OPERATIONAL 

Operational state.

PRE_OPERATIONAL 

Pre-operational state.