canopen::Device Class Reference

#include <canopen.h>

List of all members.

Public Member Functions
	Device ()
	Device (uint16_t CANid)
	Device (uint16_t CANid, std::string name, std::string group, std::string bus)
	Device (uint16_t CANid, std::string name, std::string group, std::string bus, double conversion_factor, double offsets)
double	getActualPos ()
double	getActualVel ()
uint8_t	getCANid ()
double	getConversionFactor ()
int8_t	getCurrentModeofOperation ()
double	getDesiredPos ()
double	getDesiredVel ()
std::string	getDeviceFile ()
bool	getDriveReferenced ()
double	getDriverTemperature ()
std::string	getErrorRegister ()
bool	getFault ()
std::string	getGroup ()
bool	getHomingError ()
bool	getInitialized ()
bool	getInternalLimits ()
bool	getIPMode ()
bool	getManSpec1 ()
bool	getmanSpec2 ()
std::string	getManufactureErrorRegister ()
std::vector< char >	getManufacturerDevName ()
std::vector< char >	getManufacturerHWVersion ()
std::vector< char >	getManufacturerSWVersion ()
bool	getModeSpecific ()
std::string	getMotorState ()
std::string	getName ()
bool	getNegativeLimit ()
bool	getNMTInit ()
std::string	getNMTState ()
bool	getOpEnabled ()
bool	getOpSpec0 ()
bool	getOpSpec1 ()
bool	getPositiveLimit ()
std::vector< uint16_t >	getProdCode ()
bool	getQuickStop ()
bool	getReadySwitchOn ()
bool	getRemote ()
uint16_t	getRevNumber ()
bool	getSwitchOn ()
bool	getSwitchOnDisabled ()
bool	getTargetReached ()
std::chrono::milliseconds	getTimeStamp_msec ()
std::chrono::microseconds	getTimeStamp_usec ()
std::vector< uint16_t >	getVendorID ()
bool	getVoltageEnabled ()
bool	getWarning ()
void	setActualPos (double pos)
void	setActualVel (double vel)
void	setConversionFactor (double conversion_factor)
void	setCurrentModeofOperation (int8_t mode_display)
void	setDesiredPos (double pos)
void	setDesiredVel (double vel)
void	setDriverTemperature (double temperature)
void	setErrorRegister (std::string error_register)
void	setFault (bool fault)
void	setHoming (bool homing_error)
void	setInitialized (bool initialized)
void	setInternalLimits (bool internal_limits)
void	setIPMode (bool ip_mode)
void	setManSpec1 (bool manspec1)
void	setManSpec2 (bool manspec2)
void	setManufacturerDevName (std::vector< char > dev_name)
void	setManufacturerErrorRegister (std::string manufacturer_error_register)
void	setManufacturerHWVersion (std::vector< char > mh_version)
void	setManufacturerSWVersion (std::vector< char > ms_version)
void	setModeSpec (bool modespec)
void	setMotorState (std::string nextState)
void	setNegativeLimit (bool neg_limit)
void	setNMTInit (bool nmt_limit)
void	setNMTState (std::string nextState)
void	setOpEnable (bool op_enable)
void	setOpSpec0 (bool opspec0)
void	setOpSpec1 (bool opspec1)
void	setPositiveLimit (bool pos_limit)
void	setProdCode (std::vector< uint16_t > prod_code)
void	setQuickStop (bool quick_stop)
void	setReadySwitchON (bool r_switch_on)
void	setRemote (bool remote)
void	setRevNum (uint16_t rev_num)
void	setSwitchON (bool switch_on)
void	setSwitchOnDisable (bool switch_disabled)
void	setTargetReached (bool target_reached)
void	setTimeStamp_msec (std::chrono::milliseconds timeStamp)
void	setTimeStamp_usec (std::chrono::microseconds timeStamp)
void	setVendorID (std::vector< uint16_t > v_id)
void	setVoltageEnabled (bool voltage_enabled)
void	setWarning (bool warning)
void	updateDesiredPos ()
Private Attributes
double	actualPos_
double	actualVel_
uint8_t	CANid_
double	conversion_factor_
double	desiredPos_
double	desiredVel_
std::string	deviceFile_
bool	driveReferenced_
std::string	error_register_
bool	fault_
std::string	group_
bool	hardware_limit_negative_
bool	hardware_limit_positive_
bool	homingError_
bool	initialized_
bool	internal_limit_
bool	ip_mode_active_
bool	man_specific1_
bool	man_specific2_
std::vector< char >	manufacturer_device_name_
std::string	manufacturer_error_register_
std::vector< char >	manufacturer_hw_version_
std::vector< char >	manufacturer_sw_version_
bool	mode_specific_
int8_t	modes_of_operation_display_
std::string	motorState_
std::string	name_
bool	nmt_init_
std::string	NMTState_
double	offset_
bool	op_enable_
bool	op_specific1_
bool	op_specific_
std::vector< uint16_t >	product_code_
bool	quick_stop_
bool	ready_switch_on_
bool	remote_
uint16_t	revision_number_
bool	switch_on_disabled_
bool	switched_on_
bool	target_reached_
double	temperature_
std::chrono::milliseconds	timeStamp_msec_
std::chrono::microseconds	timeStamp_usec_
std::vector< uint16_t >	vendor_id_
bool	volt_enable_
bool	warning_

---

Detailed Description

Definition at line 109 of file canopen.h.

---

Constructor & Destructor Documentation

canopen::Device::Device

(

)

[inline]

Definition at line 173 of file canopen.h.

canopen::Device::Device

(

uint16_t

CANid

)

[inline]

Definition at line 175 of file canopen.h.

canopen::Device::Device	(	uint16_t	CANid,
		std::string	name,
		std::string	group,
		std::string	bus
	)		[inline]

Definition at line 186 of file canopen.h.

canopen::Device::Device	(	uint16_t	CANid,
		std::string	name,
		std::string	group,
		std::string	bus,
		double	conversion_factor,
		double	offsets
	)		[inline]

Definition at line 198 of file canopen.h.

---

Member Function Documentation

double canopen::Device::getActualPos

(

)

[inline]

Definition at line 373 of file canopen.h.

double canopen::Device::getActualVel

(

)

[inline]

Definition at line 380 of file canopen.h.

uint8_t canopen::Device::getCANid

(

)

[inline]

Definition at line 252 of file canopen.h.

double canopen::Device::getConversionFactor

(

)

[inline]

Definition at line 256 of file canopen.h.

int8_t canopen::Device::getCurrentModeofOperation

(

)

[inline]

Definition at line 357 of file canopen.h.

double canopen::Device::getDesiredPos

(

)

[inline]

Definition at line 376 of file canopen.h.

double canopen::Device::getDesiredVel

(

)

[inline]

Definition at line 384 of file canopen.h.

std::string canopen::Device::getDeviceFile

(

)

[inline]

Definition at line 260 of file canopen.h.

bool canopen::Device::getDriveReferenced

(

)

[inline]

Definition at line 370 of file canopen.h.

double canopen::Device::getDriverTemperature

(

)

[inline]

Definition at line 279 of file canopen.h.

std::string canopen::Device::getErrorRegister

(

)

[inline]

Definition at line 362 of file canopen.h.

bool canopen::Device::getFault

(

)

[inline]

Definition at line 352 of file canopen.h.

std::string canopen::Device::getGroup

(

)

[inline]

Definition at line 263 of file canopen.h.

bool canopen::Device::getHomingError

(

)

[inline]

Definition at line 339 of file canopen.h.

bool canopen::Device::getInitialized

(

)

[inline]

Definition at line 270 of file canopen.h.

bool canopen::Device::getInternalLimits

(

)

[inline]

Definition at line 318 of file canopen.h.

bool canopen::Device::getIPMode

(

)

[inline]

Definition at line 366 of file canopen.h.

bool canopen::Device::getManSpec1

(

)

[inline]

Definition at line 331 of file canopen.h.

bool canopen::Device::getmanSpec2

(

)

[inline]

Definition at line 335 of file canopen.h.

std::string canopen::Device::getManufactureErrorRegister

(

)

[inline]

Definition at line 236 of file canopen.h.

std::vector<char> canopen::Device::getManufacturerDevName

(

)

[inline]

Definition at line 232 of file canopen.h.

std::vector<char> canopen::Device::getManufacturerHWVersion

(

)

[inline]

Definition at line 228 of file canopen.h.

std::vector<char> canopen::Device::getManufacturerSWVersion

(

)

[inline]

Definition at line 224 of file canopen.h.

bool canopen::Device::getModeSpecific

(

)

[inline]

Definition at line 307 of file canopen.h.

std::string canopen::Device::getMotorState

(

)

[inline]

Definition at line 220 of file canopen.h.

std::string canopen::Device::getName

(

)

[inline]

Definition at line 266 of file canopen.h.

bool canopen::Device::getNegativeLimit

(

)

[inline]

Definition at line 344 of file canopen.h.

bool canopen::Device::getNMTInit

(

)

[inline]

Definition at line 212 of file canopen.h.

std::string canopen::Device::getNMTState

(

)

[inline]

Definition at line 216 of file canopen.h.

bool canopen::Device::getOpEnabled

(

)

[inline]

Definition at line 291 of file canopen.h.

bool canopen::Device::getOpSpec0

(

)

[inline]

Definition at line 323 of file canopen.h.

bool canopen::Device::getOpSpec1

(

)

[inline]

Definition at line 327 of file canopen.h.

bool canopen::Device::getPositiveLimit

(

)

[inline]

Definition at line 348 of file canopen.h.

std::vector<uint16_t> canopen::Device::getProdCode

(

)

[inline]

Definition at line 244 of file canopen.h.

bool canopen::Device::getQuickStop

(

)

[inline]

Definition at line 295 of file canopen.h.

bool canopen::Device::getReadySwitchOn

(

)

[inline]

Definition at line 283 of file canopen.h.

bool canopen::Device::getRemote

(

)

[inline]

Definition at line 311 of file canopen.h.

uint16_t canopen::Device::getRevNumber

(

)

[inline]

Definition at line 248 of file canopen.h.

bool canopen::Device::getSwitchOn

(

)

[inline]

Definition at line 287 of file canopen.h.

bool canopen::Device::getSwitchOnDisabled

(

)

[inline]

Definition at line 299 of file canopen.h.

bool canopen::Device::getTargetReached

(

)

[inline]

Definition at line 314 of file canopen.h.

std::chrono::milliseconds canopen::Device::getTimeStamp_msec

(

)

[inline]

Definition at line 388 of file canopen.h.

std::chrono::microseconds canopen::Device::getTimeStamp_usec

(

)

[inline]

Definition at line 392 of file canopen.h.

std::vector<uint16_t> canopen::Device::getVendorID

(

)

[inline]

Definition at line 240 of file canopen.h.

bool canopen::Device::getVoltageEnabled

(

)

[inline]

Definition at line 275 of file canopen.h.

bool canopen::Device::getWarning

(

)

[inline]

Definition at line 303 of file canopen.h.

void canopen::Device::setActualPos

(

double

pos

)

[inline]

Definition at line 396 of file canopen.h.

void canopen::Device::setActualVel

(

double

vel

)

[inline]

Definition at line 409 of file canopen.h.

void canopen::Device::setConversionFactor

(

double

conversion_factor

)

[inline]

Definition at line 400 of file canopen.h.

void canopen::Device::setCurrentModeofOperation

(

int8_t

mode_display

)

[inline]

Definition at line 537 of file canopen.h.

void canopen::Device::setDesiredPos

(

double

pos

)

[inline]

Definition at line 404 of file canopen.h.

void canopen::Device::setDesiredVel

(

double

vel

)

[inline]

Definition at line 413 of file canopen.h.

void canopen::Device::setDriverTemperature

(

double

temperature

)

[inline]

Definition at line 456 of file canopen.h.

void canopen::Device::setErrorRegister

(

std::string

error_register

)

[inline]

Definition at line 542 of file canopen.h.

void canopen::Device::setFault

(

bool

fault

)

[inline]

Definition at line 533 of file canopen.h.

void canopen::Device::setHoming

(

bool

homing_error

)

[inline]

Definition at line 554 of file canopen.h.

void canopen::Device::setInitialized

(

bool

initialized

)

[inline]

Definition at line 558 of file canopen.h.

void canopen::Device::setInternalLimits

(

bool

internal_limits

)

[inline]

Definition at line 502 of file canopen.h.

void canopen::Device::setIPMode

(

bool

ip_mode

)

[inline]

Definition at line 550 of file canopen.h.

void canopen::Device::setManSpec1

(

bool

manspec1

)

[inline]

Definition at line 494 of file canopen.h.

void canopen::Device::setManSpec2

(

bool

manspec2

)

[inline]

Definition at line 507 of file canopen.h.

void canopen::Device::setManufacturerDevName

(

std::vector< char >

dev_name

)

[inline]

Definition at line 429 of file canopen.h.

void canopen::Device::setManufacturerErrorRegister

(

std::string

manufacturer_error_register

)

[inline]

Definition at line 546 of file canopen.h.

void canopen::Device::setManufacturerHWVersion

(

std::vector< char >

mh_version

)

[inline]

Definition at line 425 of file canopen.h.

void canopen::Device::setManufacturerSWVersion

(

std::vector< char >

ms_version

)

[inline]

Definition at line 421 of file canopen.h.

void canopen::Device::setModeSpec

(

bool

modespec

)

[inline]

Definition at line 485 of file canopen.h.

void canopen::Device::setMotorState

(

std::string

nextState

)

[inline]

Definition at line 417 of file canopen.h.

void canopen::Device::setNegativeLimit

(

bool

neg_limit

)

[inline]

Definition at line 524 of file canopen.h.

void canopen::Device::setNMTInit

(

bool

nmt_limit

)

[inline]

Definition at line 528 of file canopen.h.

void canopen::Device::setNMTState

(

std::string

nextState

)

[inline]

Definition at line 447 of file canopen.h.

void canopen::Device::setOpEnable

(

bool

op_enable

)

[inline]

Definition at line 468 of file canopen.h.

void canopen::Device::setOpSpec0

(

bool

opspec0

)

[inline]

Definition at line 515 of file canopen.h.

void canopen::Device::setOpSpec1

(

bool

opspec1

)

[inline]

Definition at line 511 of file canopen.h.

void canopen::Device::setPositiveLimit

(

bool

pos_limit

)

[inline]

Definition at line 519 of file canopen.h.

void canopen::Device::setProdCode

(

std::vector< uint16_t >

prod_code

)

[inline]

Definition at line 437 of file canopen.h.

void canopen::Device::setQuickStop

(

bool

quick_stop

)

[inline]

Definition at line 472 of file canopen.h.

void canopen::Device::setReadySwitchON

(

bool

r_switch_on

)

[inline]

Definition at line 460 of file canopen.h.

void canopen::Device::setRemote

(

bool

remote

)

[inline]

Definition at line 490 of file canopen.h.

void canopen::Device::setRevNum

(

uint16_t

rev_num

)

[inline]

Definition at line 442 of file canopen.h.

void canopen::Device::setSwitchON

(

bool

switch_on

)

[inline]

Definition at line 464 of file canopen.h.

void canopen::Device::setSwitchOnDisable

(

bool

switch_disabled

)

[inline]

Definition at line 476 of file canopen.h.

void canopen::Device::setTargetReached

(

bool

target_reached

)

[inline]

Definition at line 498 of file canopen.h.

void canopen::Device::setTimeStamp_msec

(

std::chrono::milliseconds

timeStamp

)

[inline]

Definition at line 566 of file canopen.h.

void canopen::Device::setTimeStamp_usec

(

std::chrono::microseconds

timeStamp

)

[inline]

Definition at line 570 of file canopen.h.

void canopen::Device::setVendorID

(

std::vector< uint16_t >

v_id

)

[inline]

Definition at line 433 of file canopen.h.

void canopen::Device::setVoltageEnabled

(

bool

voltage_enabled

)

[inline]

Definition at line 452 of file canopen.h.

void canopen::Device::setWarning

(

bool

warning

)

[inline]

Definition at line 480 of file canopen.h.

void canopen::Device::updateDesiredPos

(

)

[inline]

Definition at line 562 of file canopen.h.

---

Member Data Documentation

double canopen::Device::actualPos_ [private]

Definition at line 138 of file canopen.h.

double canopen::Device::actualVel_ [private]

Definition at line 140 of file canopen.h.

uint8_t canopen::Device::CANid_ [private]

Definition at line 113 of file canopen.h.

double canopen::Device::conversion_factor_ [private]

Definition at line 114 of file canopen.h.

double canopen::Device::desiredPos_ [private]

Definition at line 139 of file canopen.h.

double canopen::Device::desiredVel_ [private]

Definition at line 141 of file canopen.h.

std::string canopen::Device::deviceFile_ [private]

Definition at line 118 of file canopen.h.

bool canopen::Device::driveReferenced_ [private]

Definition at line 135 of file canopen.h.

std::string canopen::Device::error_register_ [private]

Definition at line 130 of file canopen.h.

bool canopen::Device::fault_ [private]

Definition at line 154 of file canopen.h.

std::string canopen::Device::group_ [private]

Definition at line 120 of file canopen.h.

bool canopen::Device::hardware_limit_negative_ [private]

Definition at line 148 of file canopen.h.

bool canopen::Device::hardware_limit_positive_ [private]

Definition at line 147 of file canopen.h.

bool canopen::Device::homingError_ [private]

Definition at line 137 of file canopen.h.

bool canopen::Device::initialized_ [private]

Definition at line 133 of file canopen.h.

bool canopen::Device::internal_limit_ [private]

Definition at line 163 of file canopen.h.

bool canopen::Device::ip_mode_active_ [private]

Definition at line 136 of file canopen.h.

bool canopen::Device::man_specific1_ [private]

Definition at line 166 of file canopen.h.

bool canopen::Device::man_specific2_ [private]

Definition at line 167 of file canopen.h.

std::vector<char> canopen::Device::manufacturer_device_name_ [private]

Definition at line 124 of file canopen.h.

std::string canopen::Device::manufacturer_error_register_ [private]

Definition at line 131 of file canopen.h.

std::vector<char> canopen::Device::manufacturer_hw_version_ [private]

Definition at line 123 of file canopen.h.

std::vector<char> canopen::Device::manufacturer_sw_version_ [private]

Definition at line 122 of file canopen.h.

bool canopen::Device::mode_specific_ [private]

Definition at line 160 of file canopen.h.

int8_t canopen::Device::modes_of_operation_display_ [private]

Definition at line 145 of file canopen.h.

std::string canopen::Device::motorState_ [private]

Definition at line 117 of file canopen.h.

std::string canopen::Device::name_ [private]

Definition at line 119 of file canopen.h.

bool canopen::Device::nmt_init_ [private]

Definition at line 134 of file canopen.h.

std::string canopen::Device::NMTState_ [private]

Definition at line 116 of file canopen.h.

double canopen::Device::offset_ [private]

Definition at line 115 of file canopen.h.

bool canopen::Device::op_enable_ [private]

Definition at line 153 of file canopen.h.

bool canopen::Device::op_specific1_ [private]

Definition at line 165 of file canopen.h.

bool canopen::Device::op_specific_ [private]

Definition at line 164 of file canopen.h.

std::vector<uint16_t> canopen::Device::product_code_ [private]

Definition at line 127 of file canopen.h.

bool canopen::Device::quick_stop_ [private]

Definition at line 156 of file canopen.h.

bool canopen::Device::ready_switch_on_ [private]

Definition at line 151 of file canopen.h.

bool canopen::Device::remote_ [private]

Definition at line 161 of file canopen.h.

uint16_t canopen::Device::revision_number_ [private]

Definition at line 128 of file canopen.h.

bool canopen::Device::switch_on_disabled_ [private]

Definition at line 157 of file canopen.h.

bool canopen::Device::switched_on_ [private]

Definition at line 152 of file canopen.h.

bool canopen::Device::target_reached_ [private]

Definition at line 162 of file canopen.h.

double canopen::Device::temperature_ [private]

Definition at line 169 of file canopen.h.

std::chrono::milliseconds canopen::Device::timeStamp_msec_ [private]

Definition at line 142 of file canopen.h.

std::chrono::microseconds canopen::Device::timeStamp_usec_ [private]

Definition at line 143 of file canopen.h.

std::vector<uint16_t> canopen::Device::vendor_id_ [private]

Definition at line 126 of file canopen.h.

bool canopen::Device::volt_enable_ [private]

Definition at line 155 of file canopen.h.

bool canopen::Device::warning_ [private]

Definition at line 158 of file canopen.h.

---

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

• canopen.h