kaco::Master Class Reference

This class represents a master node. It listens for new slaves and provides access to them via get_slaves(). More...

#include <master.h>

Collaboration diagram for kaco::Master:

Public Member Functions
	Master ()
	Constructor. Creates Core instance and adds NMT listener for new devices.
	Master (const Master &)=delete
	Copy constructor deleted because of callbacks with self-references.
	Master (Master &&)=delete
	Move constructor deleted because of callbacks with self-references.
	~Master ()
	Destructor.
bool	start (const std::string busname, const std::string &baudrate)
	Starts master and creates Core. More...
bool	start (const std::string busname, const unsigned baudrate)
	Starts master and creates Core. More...
void	stop ()
	Stops master and core.
size_t	num_devices () const
	Returns the number of slave devices in the network. More...
Device &	get_device (size_t index) const
	Returns a reference to a slave device object. More...

Public Attributes
Core	core
	Core instance.

Detailed Description

This class represents a master node. It listens for new slaves and provides access to them via get_slaves().

Examples:

examples/listdevices.cpp, examples/master.cpp, examples/pdo.cpp, examples/ros/motor_and_io_bridge.cpp, and examples/ros/ros.cpp.

Definition at line 47 of file master.h.

Member Function Documentation

Device & kaco::Master::get_device

(

size_t

index

)

const

Returns a reference to a slave device object.

Parameters

index

Index of the device. Must be smaller than num_devices().

Remarks

thread-safe

Examples:

examples/listdevices.cpp, examples/master.cpp, examples/pdo.cpp, examples/ros/motor_and_io_bridge.cpp, and examples/ros/ros.cpp.

Definition at line 84 of file master.cpp.

size_t kaco::Master::num_devices

(

)

const

Returns the number of slave devices in the network.

Remarks

thread-safe

Examples:

examples/listdevices.cpp, examples/master.cpp, examples/pdo.cpp, examples/ros/motor_and_io_bridge.cpp, and examples/ros/ros.cpp.

Definition at line 80 of file master.cpp.

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

Starts master and creates Core.

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

Master must not run yet.

Examples:

examples/listdevices.cpp, examples/master.cpp, examples/pdo.cpp, examples/ros/motor_and_io_bridge.cpp, and examples/ros/ros.cpp.

Definition at line 51 of file master.cpp.

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

Starts master and creates Core.

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

Master must not run yet.

Definition at line 63 of file master.cpp.

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

• master/include/master.h
• master/src/master.cpp