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eds_library.cpp
1 /*
2  * Copyright (c) 2015-2016, Thomas Keh
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31 
32 #include "logger.h"
33 #include "eds_library.h"
34 
35 #include <algorithm>
36 #include <unordered_map>
37 
38 void print_dictionary(const std::unordered_map<kaco::Address, kaco::Entry>& map) {
39 
40  PRINT("\nHere is the dictionary:");
41 
42  using EntryRef = std::reference_wrapper<const kaco::Entry>;
43  std::vector<EntryRef> entries;
44 
45  for (const auto& pair : map) {
46  entries.push_back(std::ref(pair.second));
47  }
48 
49  // sort by index and subindex
50  std::sort(entries.begin(), entries.end(),
51  [](const EntryRef& l, const EntryRef& r) { return l.get()<r.get(); });
52 
53  for (const auto& entry : entries) {
54  entry.get().print();
55  }
56 
57 }
58 
59 int main() {
60 
61  PRINT("This example loads dictionaries from the EDS library.");
62 
63  std::unordered_map<kaco::Address, kaco::Entry> dictionary;
64  std::unordered_map<std::string, kaco::Address> name_to_address;
65  kaco::EDSLibrary library(dictionary, name_to_address);
66  bool success = library.lookup_library();
67 
68  if (!success) {
69  ERROR("EDS library not found.");
70  return EXIT_FAILURE;
71  }
72 
73  success = library.load_default_eds(402);
74  if (!success) {
75  ERROR("load_default_eds(402) failed.");
76  } else {
77  print_dictionary(dictionary);
78  }
79 
80  // This should fail.
81  dictionary.clear();
82  name_to_address.clear();
83  success = library.load_default_eds(405);
84  if (!success) {
85  ERROR("load_default_eds(405) failed.");
86  } else {
87  print_dictionary(dictionary);
88  }
89 
90  return EXIT_SUCCESS;
91 
92 }
This class provides access to KaCanOpen's EDS library. It manages device specific as well as generic ...
Definition: eds_library.h:46