This class implements the CanOpen NMT protocol. More...

#include <nmt.h>

Public Types
enum	Command : uint8_t { start_node = 0x01, stop_node = 0x02, enter_preoperational = 0x80, reset_node = 0x81, reset_communication = 0x82 }
	NMT commands.

using	DeviceAliveCallback = std::function< void(const uint8_t node_id) >
	Type of a device alive callback function Important: Never call register_device_alive_callback() from within (-> deadlock)!

using	NewDeviceCallback = DeviceAliveCallback
	Type of a new device callback function. More...

Public Member Functions
	NMT (Core &core)
	Constructor. More...

	NMT (const NMT &)=delete
	Copy constructor deleted because of mutexes.

void	process_incoming_message (const Message &message)
	Process incoming NMT message. More...

void	send_nmt_message (uint8_t node_id, Command cmd)
	Sends a NMT message to a given device. More...

void	broadcast_nmt_message (Command cmd)
	Sends a broadcast NMT message. More...

void	reset_all_nodes ()
	Resets all nodes in the network. More...

void	discover_nodes ()
	Discovers nodes in the network via node guard protocol. More...

void	register_device_alive_callback (const DeviceAliveCallback &callback)
	Registers a callback which will be called when a slave sends it's state via NMT and the state indicates that the device is alive. This can be uses as a "new device" callback. More...

void	register_new_device_callback (const NewDeviceCallback &callback)
	Registers a callback which will be called when a new slave device is discovered. More...

Detailed Description

This class implements the CanOpen NMT protocol.

Definition at line 50 of file nmt.h.

Member Typedef Documentation

using kaco::NMT::NewDeviceCallback = DeviceAliveCallback

Type of a new device callback function.

Deprecated:

Definition at line 61 of file nmt.h.

Constructor & Destructor Documentation

kaco::NMT::NMT ( Core & core )

Constructor.

Parameters

core	Reference to the Core

Definition at line 43 of file nmt.cpp.

Member Function Documentation

void kaco::NMT::broadcast_nmt_message ( Command cmd )

Sends a broadcast NMT message.

Parameters

cmd	The NMT command.

Remarks: thread-safe

Definition at line 53 of file nmt.cpp.

void kaco::NMT::discover_nodes ( )

Discovers nodes in the network via node guard protocol.

Remarks: thread-safe

Examples:: examples/ros/motor_and_io_bridge.cpp.

Definition at line 67 of file nmt.cpp.

void kaco::NMT::process_incoming_message ( const Message & message )

Process incoming NMT message.

Parameters

message The received CanOpen message.

Remarks: thread-safe

Definition at line 79 of file nmt.cpp.

void kaco::NMT::register_device_alive_callback ( const DeviceAliveCallback & callback )

Registers a callback which will be called when a slave sends it's state via NMT and the state indicates that the device is alive. This can be uses as a "new device" callback.