Todo List

Member kaco::Device::add_receive_pdo_mapping (uint16_t cob_id, const std::string &entry_name, uint8_t offset)

Add index/subindex overload?

Member kaco::Device::get_device_profile_number ()

Make this an operation?

Member kaco::Device::get_entry (const std::string &entry_name, const ReadAccessMethod access_method=ReadAccessMethod::use_default)

check access_type from dictionary

Member kaco::Device::get_entry (const uint16_t index, const uint8_t subindex=0, const ReadAccessMethod access_method=ReadAccessMethod::use_default)

check access_type from dictionary

Member kaco::Device::get_entry_type (const std::string &entry_name)

Overload with index+subindex.

Member kaco::Device::has_entry (const std::string &entry_name)

Overload with index+subindex.

Member kaco::Device::set_entry (const std::string &entry_name, const Value &value, const WriteAccessMethod access_method=WriteAccessMethod::use_default)

check access_type from dictionary

Member kaco::Device::set_entry (const uint16_t index, const uint8_t subindex, const Value &value, const WriteAccessMethod access_method=WriteAccessMethod::use_default)

check access_type from dictionary

Member kaco::Device::start ()

Add m_started member?

Member kaco::Device::~Device ()

Something to shut down? NMT?

Member kaco::EDSLibrary::load_manufacturer_eds_deprecated (uint32_t vendor_id, uint32_t product_code, uint32_t revision_number)

Remove this!

Class kaco::Entry

Add missing fields like high and low limit.

Array type entries are currently not used and may be deleted in future.

Class kaco::Mapping

Add index/subindex overload?

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

Rename this to add_tpdo_received_callback() and add add_rpdo_received_callback()

Remarks

thread-safe

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

Rename this to process_incoming_tpdo() and add process_incoming_rpdo()

Remarks

thread-safe

Class kaco::ReceivePDOMapping

Add index/subindex overload?

Class kaco::SDO

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).

Member kaco::SDO::process_incoming_message (const Message &message)

Rename this to process_incoming_server_sdo() and add process_incoming_client_sdo()

Remarks

thread-safe

Member kaco::SDOResponse::get_error () const

reimplement this using sdo_error class -> remove code duplication

Member kaco::SDOResponse::index

Remove this.

Member kaco::SDOResponse::subindex

Remove this.

Class kaco::Value

Maybe we should introduce a specific exception if types don't match.

Maybe we could be less restrictive for integer types of different size (e.g casting uint16_t to uint32_t should be safe).