kaco::Core Class Reference

This class implements the Core of KaCanOpen It communicates with the CAN driver, sends CAN messages and listens for incoming CAN messages. You can access CanOpen sub- protocols using public members nmt, sdo and pdo. More...

#include <core.h>

Collaboration diagram for kaco::Core:

Public Types
using	MessageReceivedCallback = std::function< void(const Message &) >
	Type of a message receiver function Important: Never call register_receive_callback() from within (-> deadlock)!

Public Member Functions
	Core ()
	Constructor.
	~Core ()
	Destructor.
	Core (const Core &)=delete
	Copy constructor deleted because of mutexes.
bool	start (const std::string busname, const std::string &baudrate)
	Opens CAN driver and starts CAN message receive loop. More...
bool	start (const std::string busname, const unsigned baudrate)
	Opens CAN driver and starts CAN message receive loop. More...
void	stop ()
	Stops the receive loop and closes the driver. More...
void	send (const Message &message)
	Sends a message. More...
void	register_receive_callback (const MessageReceivedCallback &callback)
	Registers a callback function which is called when a message has been received. More...

Public Attributes
NMT	nmt
	The NMT sub-protocol.
SDO	sdo
	The SDO sub-protocol.
PDO	pdo
	The PDO sub-protocol.

Detailed Description

This class implements the Core of KaCanOpen It communicates with the CAN driver, sends CAN messages and listens for incoming CAN messages. You can access CanOpen sub- protocols using public members nmt, sdo and pdo.

All methods except start() and stop() are thread-safe.

Examples:

examples/core.cpp.

Definition at line 59 of file core.h.

Member Function Documentation

void kaco::Core::register_receive_callback

(

const MessageReceivedCallback &

callback

)

Registers a callback function which is called when a message has been received.

Remarks

thread-safe

Definition at line 137 of file core.cpp.

void kaco::Core::send

(

const Message &

message

)

Sends a message.

Remarks

thread-safe if m_lock_send==true or driver is thread-safe.

Definition at line 243 of file core.cpp.

bool kaco::Core::start	(	const std::string	busname,
		const std::string &	baudrate
	)

Opens CAN driver and starts CAN message receive loop.

Parameters

busname	Name of the bus which will be passed to the CAN driver, e.g. slcan0
baudrate	Baudrate as a string which will be passed to the CAN driver. Most drivers from the CanFestival project accept the following values: "1M", "500K", "125K", "100K", "50K", "20K", "10K" and "5K".

Returns

true if successful

Remarks

Core must not run yet.

Examples:

examples/core.cpp.

Definition at line 84 of file core.cpp.

bool kaco::Core::start	(	const std::string	busname,
		const unsigned	baudrate
	)

Opens CAN driver and starts CAN message receive loop.

Parameters

busname	Name of the bus which will be passed to the CAN driver, e.g. slcan0
baudrate	Baudrate in 1/s. The value will be passed to the CAN driver in string representation. Attention: For full compatibility with CanFestival drivers, values > 1000000 are postfixed with "M" and values > 1000 are postfixed with "K". E.g. 1000000->"1M", 500000->"500K" and 5000->"5K".

Returns

true if successful

Remarks

Core must not run yet.

Definition at line 102 of file core.cpp.

void kaco::Core::stop

(

)

Stops the receive loop and closes the driver.

Remarks

Core must be running.

Definition at line 112 of file core.cpp.

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

• core/include/core.h
• core/src/core.cpp