Public Types | Public Member Functions | Static Public Attributes | Private Attributes
icl_hardware::canopen_schunk::TPDO Class Reference

This class describes Transmit PDOs, meaning PDOs that send data from the device to the host. More...

#include <TPDO.h>

Inheritance diagram for icl_hardware::canopen_schunk::TPDO:
Inheritance graph
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List of all members.

Public Types

typedef boost::shared_ptr< TPDOPtr
 Convenience typedef to use PDOs with shared pointers.
typedef std::vector
< boost::shared_ptr< TPDO > > 
PtrList
 Convenience typedef to use PDO lists with shared pointers.

Public Member Functions

PDOStringMatchVec appendMapping (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_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 registerNotifyCallback (const boost::function< void()> &f)
 Register a notification callback function for incoming PDO messages.
PDOStringMatchVec remap (SDO &sdo, const MappingConfigurationList &mappings, const eTransmissionType &transmission_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0)
 Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is.
 TPDO (const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr &can_device)
 Construct a new TPDO.
void update (const CanMsg &msg)
 update updates the TPDO data with newly received messages
void upload ()
 Upload data from the slave to the master (Node to PC)

Static Public Attributes

static const uint16_t OD_TPDO_COMMUNICATION_MIN = 0x1800
static const uint16_t OD_TPDO_MAPPING_PARAMETER_MIN = 0x1A00

Private Attributes

std::vector< uint8_tm_data_buffer
boost::mutex m_data_buffer_mutex
boost::condition_variable m_data_buffer_updated_cond
bool m_data_update_received
std::vector< boost::function
< void()> > 
m_notify_callbacks

Detailed Description

This class describes Transmit PDOs, meaning PDOs that send data from the device to the host.

Definition at line 33 of file TPDO.h.


Member Typedef Documentation

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

Convenience typedef to use PDOs with shared pointers.

Reimplemented from icl_hardware::canopen_schunk::PDO.

Definition at line 37 of file TPDO.h.

Convenience typedef to use PDO lists with shared pointers.

Reimplemented from icl_hardware::canopen_schunk::PDO.

Definition at line 39 of file TPDO.h.


Constructor & Destructor Documentation

icl_hardware::canopen_schunk::TPDO::TPDO ( const uint8_t  node_id,
const uint8_t  pdo_nr,
const CanDevPtr can_device 
)

Construct a new TPDO.

Parameters:
node_idID of the node this TPDO belongs to
pdo_nrnumbering of this TPDO inside the node
can_devicehandle to the CAN device

Definition at line 31 of file TPDO.cpp.


Member Function Documentation

PDO::PDOStringMatchVec icl_hardware::canopen_schunk::TPDO::appendMapping ( SDO sdo,
const MappingConfigurationList mappings,
const eTransmissionType transmission_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.

Note:
Do not call this method by hand, but use the wrapper functions in the DS301Node class. Otherwise the node will not know of the new mapping and won't be able to find a PDO by it's identifier string.
Parameters:
sdoHandle to the SDO object
mappingsList of MappingConfigurations that should be mapped into this PDO
transmission_typeTransmission type of this PDO
dummy_mappingif 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_cyclesIf 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.
Returns:
PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.

Definition at line 104 of file TPDO.cpp.

void icl_hardware::canopen_schunk::TPDO::registerNotifyCallback ( const boost::function< void()> &  f)

Register a notification callback function for incoming PDO messages.

Parameters:
fNotification function that should be called

Definition at line 125 of file TPDO.cpp.

PDO::PDOStringMatchVec icl_hardware::canopen_schunk::TPDO::remap ( SDO sdo,
const MappingConfigurationList mappings,
const eTransmissionType transmission_type,
const bool  dummy_mapping = false,
const uint8_t  cyclic_timeout_cycles = 0 
)

Configure a PDO by sending some SDO packages. This can be either done during NMT state pre-operational or during the NMT state Operational. If an empty mapping is given, we leave the mapping as is.

Note:
Do not call this method by hand, but use the wrapper functions in the DS301Node class. Otherwise the node will not know of the new mapping and won't be able to find a PDO by it's identifier string.
Parameters:
sdoHandle to the SDO object
mappingsList of MappingConfigurations that should be mapped into this PDO
transmission_typeTransmission type of this PDO
dummy_mappingif 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_cyclesIf 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.
Returns:
PDOStringMatchVec Vector of string to vec_index matchings. If an error occurs, the returned vector will be empty.

Definition at line 84 of file TPDO.cpp.

update updates the TPDO data with newly received messages

Parameters:
msgcan message that was preciously identified as TPDO message for this specific TPDO

Definition at line 37 of file TPDO.cpp.

Upload data from the slave to the master (Node to PC)

Currently this calls the notification callbacks registered to this PDO.

Definition at line 76 of file TPDO.cpp.


Member Data Documentation

Definition at line 132 of file TPDO.h.

Definition at line 129 of file TPDO.h.

Definition at line 130 of file TPDO.h.

Definition at line 131 of file TPDO.h.

Definition at line 127 of file TPDO.h.

Definition at line 41 of file TPDO.h.

Definition at line 42 of file TPDO.h.


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


schunk_canopen_driver
Author(s): Felix Mauch , Georg Heppner
autogenerated on Sun May 22 2016 03:30:57