The DS301Node class Is the base class representation of canOpen devices. It is the access point to the most relevant functionalities of the DS301 protocol (canOpen) More...

#include <DS301Node.h>

Inheritance diagram for icl_hardware::canopen_schunk::DS301Node:

[legend]

List of all members.

Classes
struct	PDOMapEntry
	Unique index to find a mapped Object dictionary item in a PDO. More...
Public Types
typedef boost::shared_ptr < const DS301Node >	ConstPtr
	Shared pointer to a const DS301Node.
enum	ePDO_TYPE { RECEIVE_PDO, TRANSMIT_PDO }
	Type of a PDO. RECEIVE_PDOs carry data from the host to the device, TRANSMIT_PDOs from the device to the host. More...
typedef boost::shared_ptr < DS301Node >	Ptr
	Shared pointer to a DS301Node.
Public Member Functions
virtual void	appendPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping.
void	downloadPDOs ()
	Downloads all Receive-PDOs of this node to the device.
	DS301Node (const uint8_t node_id, const CanDevPtr &can_device, HeartBeatMonitor::Ptr heartbeat_monitor)
uint8_t	getNodeId () const
template<typename T >
T	getRPDOValue (const std::string &identifier)
template<typename T >
T	getTPDOValue (const std::string &identifier)
	Get the value of a PDO which is mapped to a given identifier.
virtual void	initNode ()
	Initializes the node.
virtual void	initPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
	Init PDO mapping with a given mapping configuration for a given pdo nr.
void	printPDOMapping ()
	Will query the PDO mapping from the device and print that to the output.
void	registerPDONotifyCallback (const std::string &identifier, const boost::function< void()> &f)
	This function maps a callback to a specific mapped PDO entry. This callback will be called by the PDO upload function, whenever a PDO with the specified data will arrive. Please note, that the callback function will only be notified of new data, but the data must be queried from the PDO separately. A PDO entry can call multiple callbacks, currently callbacks can't be unregistered.
virtual void	registerWSBroadcaster (boost::shared_ptr< icl_comm::websocket::WsBroadcaster > broadcaster)
	registerWSBroadcaster Adds a debug interface
template<typename T >
bool	setRPDOValue (const std::string &identifier, const T value)
	Set the value of a PDO which is mapped to a given identifier.
template<typename T >
bool	setTPDOValue (const std::string &identifier, const T value)
	Set the value of a PDO which is mapped to a given identifier.
virtual void	startHeartbeat ()
	Initializes the heartbeat for the node. Throws ProtocolException it heartbeat cannot be initialized.
virtual void	stopNode ()
	Puts the node into nmt state preo_operational.
void	uploadPDOs ()
	Uploads all Transmit-PDOs of this node from the device.
Public Attributes
EMCY::Ptr	m_emcy
	EMCY object to handle spontaneous callbacks with emergency messages.
NMT	m_nmt
	Object to handle NMT calls and status.
RPDO::PtrList	m_rpdos
	RPDOS of this node (up to 4 in standard config)
SDO	m_sdo
	SDO object for specific calls.
TPDO::PtrList	m_tpdos
	TPDOS of this node (up to 4 in standard config)
Protected Attributes
CanDevPtr	m_can_dev
	Device handle for transmission of messages.
uint16_t	m_heartbeat_cycle_time_ms
HeartBeatMonitor::Ptr	m_heartbeat_monitor
uint8_t	m_node_id
	CANOPEN ID of the node.
boost::unordered_map < std::string, PDOMapEntry >	m_rpdo_mapping
	This map holds a mapping between an identifier string and a mapped position in a RPDO.
boost::unordered_map < std::string, PDOMapEntry >	m_tpdo_mapping
	This map holds a mapping between an identifier string and a mapped position in a TPDO.
boost::shared_ptr < icl_comm::websocket::WsBroadcaster >	m_ws_broadcaster
	Interface to send out diagnostics data. Only available if compiled with _IC_BUILDER_ICL_COMM_WEBSOCKET_.

Detailed Description

The DS301Node class Is the base class representation of canOpen devices. It is the access point to the most relevant functionalities of the DS301 protocol (canOpen)

Each Node is a representation of a physical (or in the terms of canOpen also a logical) device. It holds information about the actual devices such as its NMT state, the last EMCY message received from it or management information such as the ID of the device. The DS301 Node implements the basic structure of canOpen nodes but is meant as a base class for derived classes implementing a specific protocol such as the DS402 motor protocol.

Definition at line 67 of file DS301Node.h.

Member Typedef Documentation

typedef boost::shared_ptr<const DS301Node> icl_hardware::canopen_schunk::DS301Node::ConstPtr

Shared pointer to a const DS301Node.

Reimplemented in icl_hardware::canopen_schunk::SchunkPowerBallNode, and icl_hardware::canopen_schunk::DS402Node.

Definition at line 97 of file DS301Node.h.

typedef boost::shared_ptr<DS301Node> icl_hardware::canopen_schunk::DS301Node::Ptr

Shared pointer to a DS301Node.

Reimplemented in icl_hardware::canopen_schunk::SchunkPowerBallNode, and icl_hardware::canopen_schunk::DS402Node.

Definition at line 95 of file DS301Node.h.

Member Enumeration Documentation

enum icl_hardware::canopen_schunk::DS301Node::ePDO_TYPE

Type of a PDO. RECEIVE_PDOs carry data from the host to the device, TRANSMIT_PDOs from the device to the host.

Enumerator:

RECEIVE_PDO
TRANSMIT_PDO

Definition at line 88 of file DS301Node.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::DS301Node::DS301Node	(	const uint8_t	node_id,
		const CanDevPtr &	can_device,
		HeartBeatMonitor::Ptr	heartbeat_monitor
	)

Definition at line 31 of file DS301Node.cpp.

Member Function Documentation

void icl_hardware::canopen_schunk::DS301Node::appendPDOMappingSingle	(	const PDO::MappingConfigurationList &	config,
		const uint16_t	pdo_nr,
		const PDO::eTransmissionType &	transmission_type,
		const ePDO_TYPE &	pdo_type,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`
	)		`[virtual]`

Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping.

Parameters:

config	List of MappingConfigurations that should be appended.
pdo_nr	Index of the PDO this mapping should be done.
transmission_type	Transmission type of this PDO
pdo_type	Is it a receive PDO or a transmit PDO?
dummy_mapping	if set to True, no download to the device will be performed, but the mapping will be done on host side. This is especially useful if a device has preconfigured PDOs which you like to use.
cyclic_timeout_cycles	In case of transmission type SYNCHRONOUS_CYCLIC this parameter defines the PDO's frequency by defining the number of cycles between two send attempts. For example, a parameter value of 4 means, that the PDO is sent every 5th cycle.

Definition at line 116 of file DS301Node.cpp.

void icl_hardware::canopen_schunk::DS301Node::downloadPDOs ( )

Downloads all Receive-PDOs of this node to the device.

Definition at line 162 of file DS301Node.cpp.

uint8_t icl_hardware::canopen_schunk::DS301Node::getNodeId ( ) const [inline]

Definition at line 101 of file DS301Node.h.

template<typename T >

T icl_hardware::canopen_schunk::DS301Node::getRPDOValue ( const std::string & identifier ) [inline]

Definition at line 165 of file DS301Node.h.

template<typename T >

T icl_hardware::canopen_schunk::DS301Node::getTPDOValue ( const std::string & identifier ) [inline]

Get the value of a PDO which is mapped to a given identifier.

Parameters:

identifier String identifier for the PDO

Exceptions:

PDOException when no PDO is found under the given identifier.

Returns:: value of the PDO entry

Definition at line 190 of file DS301Node.h.

void icl_hardware::canopen_schunk::DS301Node::initNode ( ) [virtual]

Initializes the node.

Reimplemented in icl_hardware::canopen_schunk::DS402Node, and icl_hardware::canopen_schunk::SchunkPowerBallNode.

Definition at line 47 of file DS301Node.cpp.

void icl_hardware::canopen_schunk::DS301Node::initPDOMappingSingle	(	const PDO::MappingConfigurationList &	config,
		const uint16_t	pdo_nr,
		const PDO::eTransmissionType &	transmission_type,
		const ePDO_TYPE &	pdo_type,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`
	)		`[virtual]`

Init PDO mapping with a given mapping configuration for a given pdo nr.

Parameters:

config	List of MappingConfigurations that should be mapped
pdo_nr	Index of the PDO this mapping should be done.
transmission_type	Transmission type of this PDO
pdo_type	Is it a receive PDO or a transmit PDO?
dummy_mapping	if set to True, no download to the device will be performed, but the mapping will be done on host side. This is especially useful if a device has preconfigured PDOs which you like to use.
cyclic_timeout_cycles	If the transmission type SYNCHRONOUS_CYCLIC is used, this parameter defines the PDO's frequency by defining the number of cycles between two send attempts. For example, a parameter value of 4 means, that the PDO is sent every 5th cycle.

Exceptions:

PDOException when something goes wrong.

Definition at line 66 of file DS301Node.cpp.

void icl_hardware::canopen_schunk::DS301Node::printPDOMapping ( )

Will query the PDO mapping from the device and print that to the output.

Definition at line 170 of file DS301Node.cpp.

void icl_hardware::canopen_schunk::DS301Node::registerPDONotifyCallback	(	const std::string &	identifier,
		const boost::function< void()> &	f
	)

This function maps a callback to a specific mapped PDO entry. This callback will be called by the PDO upload function, whenever a PDO with the specified data will arrive. Please note, that the callback function will only be notified of new data, but the data must be queried from the PDO separately. A PDO entry can call multiple callbacks, currently callbacks can't be unregistered.

Throws a PDOException, when no PDO entry with the given identifier can be found.

Parameters:

identifier	string identifier of the mapped PDO entry
f	notification callback function

Definition at line 239 of file DS301Node.cpp.

void icl_hardware::canopen_schunk::DS301Node::registerWSBroadcaster ( boost::shared_ptr< icl_comm::websocket::WsBroadcaster > broadcaster ) [virtual]

registerWSBroadcaster Adds a debug interface

Definition at line 53 of file DS301Node.cpp.

template<typename T >