The SDO class represents Service Data Objects (SDO) that are used for slow access of the canOpen object dictionary. It uses the COB-ID which identifies entry with a 16bit index and 8 bit sub index and allows read and write operations. The SDO is mainly used to set up the system before the actual cyclic operation starts. This class holds the generic data, provides the up- and download functionality and parses incoming SDOs to ensure that they are correct. More...

#include <SDO.h>

Public Types
typedef boost::shared_ptr < const SDO >	ConstPtr
typedef boost::shared_ptr< SDO >	Ptr
Public Member Functions
bool	download (const bool normal_transfer, const uint16_t index, const uint8_t subindex, const std::vector< uint8_t > &usrdata)
	Downloads SDO data from the master to the slave (From PC to node).
template<typename T >
bool	download (const bool normal_transfer, const uint16_t index, const uint8_t subindex, const T &usrdata)
	Downloads SDO data from the master to the slave (From PC to node)
uint32_t	getResponseWaitTime () const
	Get the current SDO transfer response wait time.
	SDO (const uint8_t &node_id, const CanDevPtr &can_device)
void	setResponseWaitTime (const uint32_t wait_time_ms)
	Set the time in milliseconds that should be waited for an SDO response when performing a transfer.
void	update (const CanMsg &msg)
	update updates the SDO data with newly received messages
bool	upload (const bool normal_transfer, const uint16_t index, const uint8_t subindex, std::vector< uint8_t > &uploaded_data)
	Uploads data from a slave (node) to a master (PC).
template<typename T >
bool	upload (const bool normal_transfer, const uint16_t index, const uint8_t subindex, T &uploaded_data)
	Uploads data from a slave (node) to a master (PC).
Static Public Member Functions
static void	addErrorMapFromFile (const std::string &filename)
	Adds an error map from an INI file to all SDOs. This should be called once to get human readable errors.
Static Public Attributes
static unsigned char const	SDO_SEG_ABORT_TRANSFER = 0x80
static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_1BYTE = 0x2F
static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_2BYTE = 0x2B
static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_3BYTE = 0x27
static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_4BYTE = 0x23
static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_xBYTE = 0x22
static unsigned char const	SDO_SEG_REQ_INIT_UPLOAD = 0x40
static unsigned char const	SDO_SEG_REQ_UPLOAD0 = 0x60
static unsigned char const	SDO_SEG_REQ_UPLOAD1 = 0x70
static unsigned char const	SDO_SEG_RES_INIT_DOWNLOAD = 0x60
static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_1BYTE = 0x4F
static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_2BYTE = 0x4B
static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_3BYTE = 0x47
static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_4BYTE = 0x43
static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_nBYTE = 0x41
static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_xBYTE = 0x42
static uint16_t const	SDORX_ID = 0x600
static uint16_t const	SDOTX_ID = 0x580
Static Private Member Functions
static std::string	lookupErrorString (const uint32_t error_code)
Private Attributes
CanDevPtr	m_can_device
std::vector< uint8_t >	m_data_buffer
boost::mutex	m_data_buffer_mutex
boost::condition_variable	m_data_buffer_updated_cond
bool	m_data_update_received
uint8_t	m_node_id
uint32_t	m_response_wait_time_ms
Static Private Attributes
static std::map< uint32_t, std::string >	m_error_map

Detailed Description

The SDO class represents Service Data Objects (SDO) that are used for slow access of the canOpen object dictionary. It uses the COB-ID which identifies entry with a 16bit index and 8 bit sub index and allows read and write operations. The SDO is mainly used to set up the system before the actual cyclic operation starts. This class holds the generic data, provides the up- and download functionality and parses incoming SDOs to ensure that they are correct.

Definition at line 40 of file SDO.h.

Member Typedef Documentation

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

Definition at line 44 of file SDO.h.

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

Definition at line 43 of file SDO.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::SDO::SDO	(	const uint8_t &	node_id,
		const CanDevPtr &	can_device
	)

Definition at line 38 of file SDO.cpp.

Member Function Documentation

void icl_hardware::canopen_schunk::SDO::addErrorMapFromFile ( const std::string & filename ) [static]

Adds an error map from an INI file to all SDOs. This should be called once to get human readable errors.

Parameters:

filename filename of the ini file

Definition at line 339 of file SDO.cpp.

bool icl_hardware::canopen_schunk::SDO::download	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		const std::vector< uint8_t > &	usrdata
	)

Downloads SDO data from the master to the slave (From PC to node).

There exist expedited and normal (segmented) downloads in the DS301 standard. Currently, only expedited downloads are supported, which send data of up to 4 bytes directly with the download request.

Parameters:

normal_transfer	expedited (false) or segmented (true) downloads
index	Index to where the data should be written (in the node)
subindex	Subindex to where the data should be written (in the node)
usrdata	Data that would be downloaded to the node.

Note:: : There also exists an interface that accepts arbitrary datatypes that have a maximum size of 4 bytes.

Exceptions:

ProtocolException or any exception inherited from that on errors

Returns:: True if download succeeds, false otherwise

Definition at line 84 of file SDO.cpp.

template<typename T >

bool icl_hardware::canopen_schunk::SDO::download	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		const T &	usrdata
	)		`[inline]`

Downloads SDO data from the master to the slave (From PC to node)

This is just an overloaded interface to the vector interface. (see function definition without template). It accepts all kind of userdata types that can fit into 4 bytes of data. They will be automatically converted to a vector of bytes.

*

Parameters:

normal_transfer	expedited (false) or segmented (true, not yet supported) downloads
index	Index to where the data should be written (in the node)
subindex	Subindex to where the data should be written (in the node)
usrdata	Data that should be downloaded to the node. This can be any basic datatype that fits into 4 bytes.

Exceptions:

ProtocolException or any exception inherited from that on errors

Returns:: True if download succeeds, false otherwise

Definition at line 124 of file SDO.h.

uint32_t icl_hardware::canopen_schunk::SDO::getResponseWaitTime ( ) const [inline]

Get the current SDO transfer response wait time.

Definition at line 204 of file SDO.h.

std::string icl_hardware::canopen_schunk::SDO::lookupErrorString ( const uint32_t error_code ) [static, private]

Definition at line 323 of file SDO.cpp.

void icl_hardware::canopen_schunk::SDO::setResponseWaitTime ( const uint32_t wait_time_ms ) [inline]

Set the time in milliseconds that should be waited for an SDO response when performing a transfer.

Definition at line 199 of file SDO.h.

void icl_hardware::canopen_schunk::SDO::update ( const CanMsg & msg )

update updates the SDO data with newly received messages

Parameters:

msg	can message that was preciously identified as SDO message

Exceptions:

ProtocolException on errors

Definition at line 46 of file SDO.cpp.

bool icl_hardware::canopen_schunk::SDO::upload	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		std::vector< uint8_t > &	uploaded_data
	)

Uploads data from a slave (node) to a master (PC).

There exist expedited and normal (segmented) uploads in the DS301 standard. Currently, only expedited uploads are supported, which send data of up to 4 bytes directly with the first upload response.

Parameters:

[in]	normal_transfer	expedited (false) or segmented (true, not yet supported) uploads
[in]	index	Index to where the data should be read (in the node)
[in]	subindex	Subindex to where the data should be read (in the node)
[out]	uploaded_data	uploaded data will be in this vector, if upload succeeds.

Exceptions:

ProtocolException or any exception inherited from that on errors

Returns:: True if upload succeeds, false otherwise.

Definition at line 209 of file SDO.cpp.

template<typename T >

bool icl_hardware::canopen_schunk::SDO::upload	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		T &	uploaded_data
	)		`[inline]`

Uploads data from a slave (node) to a master (PC).

There exist expedited and normal (segmented) uploads in the DS301 standard. Currently, only expedited uploads are supported, which send data of up to 4 bytes directly with the first upload response.

Parameters:

[in]	normal_transfer	expedited (false) or segmented (true, not yet supported) uploads
[in]	index	Index to where the data should be read (in the node)
[in]	subindex	Subindex to where the data should be read (in the node)
[out]	uploaded_data	uploaded data will be in here, if upload succeeds.