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

#include <pdo.h>

Classes
struct	PDOReceivedCallback
	A PDO message receiver function together with it's COB-ID Important: Never call add_pdo_received_callback or process_incoming_message from within (-> deadlock)! More...

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

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

void	process_incoming_message (const Message &message) const
	Handler for an incoming PDO message. More...

void	send (uint16_t cob_id, const std::vector< uint8_t > &data)
	Sends a PDO message. More...

void	add_pdo_received_callback (uint16_t cob_id, PDOReceivedCallback::Callback callback)
	Adds a callback which will be called when a PDO has been received with the given COB-ID. More...

Detailed Description

This class implements the CanOpen PDO protocol.

All methods are thread-safe.

Definition at line 51 of file pdo.h.

Constructor & Destructor Documentation

kaco::PDO::PDO ( Core & core )

Constructor.

Parameters

core	Reference to the Core

Definition at line 41 of file pdo.cpp.

void kaco::PDO::add_pdo_received_callback	(	uint16_t	cob_id,
		PDOReceivedCallback::Callback	callback
	)

Adds a callback which will be called when a PDO has been received with the given COB-ID.

Parameters

cob_id	COB-ID to listen for
callback	Callback function, which takes a const Message reference as argument.

Rename this to add_tpdo_received_callback() and add add_rpdo_received_callback()

Definition at line 102 of file pdo.cpp.

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

Handler for an incoming PDO message.

Parameters

message The message from the network

Rename this to process_incoming_tpdo() and add process_incoming_rpdo()

Definition at line 45 of file pdo.cpp.

Sends a PDO message.

Parameters

cob_id	COB-ID of the message to send
data	A vector containing the data bytes to send. PDOs can have most 8 bytes!

Definition at line 83 of file pdo.cpp.

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