icl_hardware::canopen_schunk::CanOpenReceiveThread Class Reference

The CanOpenReceiveThread class handles incoming canOpen messages. More...

#include <CanOpenReceiveThread.h>

Public Member Functions
	CanOpenReceiveThread (const icl_core::TimeSpan &period, const boost::shared_ptr< icl_hardware::can::tCanDevice > &can_device, const ReceivedPacketCallback &received_callback)
	CanOpenReceiveThread constructor. More...
void	stop ()
	stops thread execution More...
virtual	~CanOpenReceiveThread ()
	~CanOpenReceiveThread Destructor More...

Private Member Functions
int32_t	receiveData ()
	receiveData Reads Data from the can driver and calls the data receivec callback if it was valid More...
void	workerFunction ()
	state machine processing received data More...

Private Attributes
boost::shared_ptr< icl_hardware::can::tCanDevice >	m_can_device
	Can handle for message receiving. More...
icl_hardware::can::tCanMessage	m_can_msg
	Can message for storing and transmission of received data. More...
int32_t	m_period_time_ms
	Cycle period of the receive thread. More...
ReceivedPacketCallback	m_received_callback
	Callback for parsing of correctly received can messages (protocoll will be evaluated there) More...
boost::thread	m_thread
	Feedback thread handle. More...

Detailed Description

The CanOpenReceiveThread class handles incoming canOpen messages.

The CanOpenReceiveThread uses the can device to listen for new messages. Once received it processes the general message to ensure that it is a valid can message without errors. If so the actual parsing of the message is handled by the CanOpenController class which is called via callback.

Definition at line 49 of file CanOpenReceiveThread.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::CanOpenReceiveThread::CanOpenReceiveThread	(	const icl_core::TimeSpan &	period,
		const boost::shared_ptr< icl_hardware::can::tCanDevice > &	can_device,
		const ReceivedPacketCallback &	received_callback
	)

CanOpenReceiveThread constructor.

Parameters

period	Time periods between two can readings
can_device	shared pointer to a can device
received_callback	Handle to a callback function that processes the can messages

Definition at line 32 of file CanOpenReceiveThread.cpp.

icl_hardware::canopen_schunk::CanOpenReceiveThread::~CanOpenReceiveThread ( )

virtual

~CanOpenReceiveThread Destructor

Definition at line 42 of file CanOpenReceiveThread.cpp.

Member Function Documentation

int32_t icl_hardware::canopen_schunk::CanOpenReceiveThread::receiveData ( )

private

receiveData Reads Data from the can driver and calls the data receivec callback if it was valid

Returns

0 on succes, a value <0 if an error eccoured

Definition at line 91 of file CanOpenReceiveThread.cpp.

void icl_hardware::canopen_schunk::CanOpenReceiveThread::stop

(

)

stops thread execution

Definition at line 86 of file CanOpenReceiveThread.cpp.

void icl_hardware::canopen_schunk::CanOpenReceiveThread::workerFunction ( )

private

state machine processing received data

Definition at line 49 of file CanOpenReceiveThread.cpp.

Member Data Documentation

boost::shared_ptr<icl_hardware::can::tCanDevice> icl_hardware::canopen_schunk::CanOpenReceiveThread::m_can_device

private

Can handle for message receiving.

Definition at line 84 of file CanOpenReceiveThread.h.

icl_hardware::can::tCanMessage icl_hardware::canopen_schunk::CanOpenReceiveThread::m_can_msg

private

Can message for storing and transmission of received data.

Definition at line 93 of file CanOpenReceiveThread.h.

int32_t icl_hardware::canopen_schunk::CanOpenReceiveThread::m_period_time_ms

private

Cycle period of the receive thread.

Definition at line 81 of file CanOpenReceiveThread.h.

ReceivedPacketCallback icl_hardware::canopen_schunk::CanOpenReceiveThread::m_received_callback

private

Callback for parsing of correctly received can messages (protocoll will be evaluated there)

Definition at line 87 of file CanOpenReceiveThread.h.

boost::thread icl_hardware::canopen_schunk::CanOpenReceiveThread::m_thread

private

Feedback thread handle.

Definition at line 90 of file CanOpenReceiveThread.h.

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

• CanOpenReceiveThread.h
• CanOpenReceiveThread.cpp