kaco::SDO Class Reference

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

#include <sdo.h>

Public Types
using	SDOReceivedCallback = std::function< void(SDOResponse) >
	Type of a sdo message receiver function Important: Never call send_sdo_and_wait or process_incoming_message from within (-> deadlock)!

Public Member Functions
	SDO (Core &core)
	Constructor. More...
	SDO (const SDO &)=delete
	Copy constructor deleted because of mutexes.
void	download (uint8_t node_id, uint16_t index, uint8_t subindex, uint32_t size, const std::vector< uint8_t > &bytes)
	SDO download: Write value into remote device's object dictionary. More...
std::vector< uint8_t >	upload (uint8_t node_id, uint16_t index, uint8_t subindex)
	SDO download: Get value from remote device's object dictionary. More...
void	process_incoming_message (const Message &message)
	Process incoming SDO message. More...
SDOResponse	send_sdo_and_wait (uint8_t command, uint8_t node_id, uint16_t index, uint8_t subindex, const std::array< uint8_t, 4 > &data)
	Sends an SDO message and waits for the response. More...

Detailed Description

This class implements the CanOpen SDO protocol.

Todo:

Add add_client_sdo_callback(SDOReceivedCallback) (callback signature void(const SDOResponse&)) and/or add_request_callback(node_id, SDORequestCallback) (listening only for SDOs with slave's own node_id, callback signature void(index, subindex)).

Add send_response(node_id, index, subindex, vector<uint8_t> data) (chooses segmented/expedited transfer on it's own).

Add abort_transfer(node_id, index, subindex, errorcode).

All methods are thread-safe.

Definition at line 58 of file sdo.h.

Constructor & Destructor Documentation

kaco::SDO::SDO

(

Core &

core

)

Constructor.

Parameters

core	Reference to the Core

Definition at line 45 of file sdo.cpp.

Member Function Documentation

void kaco::SDO::download	(	uint8_t	node_id,
		uint16_t	index,
		uint8_t	subindex,
		uint32_t	size,
		const std::vector< uint8_t > &	bytes
	)

SDO download: Write value into remote device's object dictionary.

Parameters

node_id	Node id of remote device
index	Dictionary index
subindex	Subindex
size	Size of the entry/value in bytes
bytes	Vector containing the data bytes of the value in little-endian order. Vector size must be equal to size argument.

Remarks

thread-safe

Examples:

examples/core.cpp.

Definition at line 50 of file sdo.cpp.

void kaco::SDO::process_incoming_message

(

const Message &

message

)

Process incoming SDO message.

Parameters

message

The received CanOpen message.

Todo:

Rename this to process_incoming_server_sdo() and add process_incoming_client_sdo()

Remarks

thread-safe

Definition at line 156 of file sdo.cpp.

SDOResponse kaco::SDO::send_sdo_and_wait	(	uint8_t	command,
		uint8_t	node_id,
		uint16_t	index,
		uint8_t	subindex,
		const std::array< uint8_t, 4 > &	data
	)

Sends an SDO message and waits for the response.

Parameters

command	SDO command specifier
node_id	Node id of remote device
index	Dictionary index
subindex	Subindex
data	bytes to send in little endian order

Returns

The response message.

Remarks

thread-safe

Definition at line 178 of file sdo.cpp.

std::vector< uint8_t > kaco::SDO::upload	(	uint8_t	node_id,
		uint16_t	index,
		uint8_t	subindex
	)

SDO download: Get value from remote device's object dictionary.

Parameters

node_id	Node id of remote device
index	Dictionary index
subindex	Subindex

Returns

Vector containing the data bytes of the value in little-endian order.

Remarks

thread-safe

Examples:

examples/core.cpp.

Definition at line 84 of file sdo.cpp.

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

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