#include <canopen.h>

Inheritance diagram for canopen::Node:

Public Types
enum	State { Unknown = 255, BootUp = 0, Stopped = 4, Operational = 5, PreOperational = 127 }

using	StateDelegate = can::DelegateHelper< StateFunc >

using	StateFunc = std::function< void(const State &)>

typedef can::Listener< const StateFunc, const State & >	StateListener

typedef StateListener::ListenerConstSharedPtr	StateListenerConstSharedPtr

Public Types inherited from canopen::Layer
enum	LayerState { Off, Init, Shutdown, Error, Halt, Recover, Ready }

Public Member Functions
StateListenerConstSharedPtr	addStateListener (const StateFunc &s)

void	enterState (const State &s)

template<typename T >
T	get (const ObjectDict::Key &k)

const State	getState ()

const ObjectStorageSharedPtr	getStorage ()

	Node (const can::CommInterfaceSharedPtr interface, const ObjectDictSharedPtr dict, uint8_t node_id, const SyncCounterSharedPtr sync=SyncCounterSharedPtr())

bool	prepare ()

bool	reset ()

bool	reset_com ()

bool	start ()

bool	stop ()

Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)

LayerState	getLayerState ()

void	halt (LayerStatus &status)

void	init (LayerStatus &status)

	Layer (const std::string &n)

void	read (LayerStatus &status)

void	recover (LayerStatus &status)

void	shutdown (LayerStatus &status)

void	write (LayerStatus &status)

virtual	~Layer ()

Public Attributes
const uint8_t	node_id_

Public Attributes inherited from canopen::Layer
const std::string	name

Private Member Functions
bool	checkHeartbeat ()

uint16_t	getHeartbeatInterval ()

virtual void	handleDiag (LayerReport &report)

virtual void	handleHalt (LayerStatus &status)

virtual void	handleInit (LayerStatus &status)

void	handleNMT (const can::Frame &msg)

virtual void	handleRead (LayerStatus &status, const LayerState &current_state)

virtual void	handleRecover (LayerStatus &status)

virtual void	handleShutdown (LayerStatus &status)

virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)

void	setHeartbeatInterval ()

void	switchState (const uint8_t &s)

template<typename T >
int	wait_for (const State &s, const T &timeout)

Private Attributes
boost::condition_variable	cond

boost::mutex	cond_mutex

ObjectStorage::Entry< ObjectStorage::DataType< ObjectDict::DEFTYPE_UNSIGNED16 >::type >	heartbeat_

boost::chrono::high_resolution_clock::time_point	heartbeat_timeout_

const can::CommInterfaceSharedPtr	interface_

boost::timed_mutex	mutex

can::FrameListenerConstSharedPtr	nmt_listener_

PDOMapper	pdo_

SDOClient	sdo_

State	state_

can::SimpleDispatcher< StateListener >	state_dispatcher_

const SyncCounterSharedPtr	sync_

Additional Inherited Members

Detailed Description

Definition at line 189 of file canopen.h.

Member Typedef Documentation

◆ StateDelegate

using canopen::Node::StateDelegate = can::DelegateHelper<StateFunc>

Definition at line 209 of file canopen.h.

◆ StateFunc

using canopen::Node::StateFunc = std::function<void(const State&)>

Definition at line 208 of file canopen.h.

◆ StateListener

typedef can::Listener<const StateFunc, const State&> canopen::Node::StateListener

Definition at line 211 of file canopen.h.

◆ StateListenerConstSharedPtr

typedef StateListener::ListenerConstSharedPtr canopen::Node::StateListenerConstSharedPtr

Definition at line 212 of file canopen.h.

Member Enumeration Documentation

◆ State

enum canopen::Node::State

Enumerator
Unknown
BootUp
Stopped
Operational
PreOperational

Definition at line 191 of file canopen.h.

Constructor & Destructor Documentation

◆ Node()

Node::Node	(	const can::CommInterfaceSharedPtr	interface,
		const ObjectDictSharedPtr	dict,
		uint8_t	node_id,
		const SyncCounterSharedPtr	sync = `SyncCounterSharedPtr()`
	)

Definition at line 30 of file node.cpp.

Member Function Documentation

◆ addStateListener()

StateListenerConstSharedPtr canopen::Node::addStateListener ( const StateFunc & s )

inline

Definition at line 214 of file canopen.h.

◆ checkHeartbeat()

bool Node::checkHeartbeat ( )

private

Definition at line 141 of file node.cpp.

◆ enterState()

void canopen::Node::enterState ( const State & s )

◆ get()

template<typename T >

T canopen::Node::get ( const ObjectDict::Key & k )

inline

Definition at line 218 of file canopen.h.

◆ getHeartbeatInterval()

uint16_t canopen::Node::getHeartbeatInterval ( )

inlineprivate

Definition at line 254 of file canopen.h.

◆ getState()

const Node::State Node::getState ( )

Definition at line 39 of file node.cpp.

◆ getStorage()

const ObjectStorageSharedPtr canopen::Node::getStorage ( )

inline

Definition at line 200 of file canopen.h.

◆ handleDiag()

void Node::handleDiag ( LayerReport & report )

privatevirtual

Implements canopen::Layer.

Definition at line 167 of file node.cpp.

◆ handleHalt()

void Node::handleHalt ( LayerStatus & status )

privatevirtual

Implements canopen::Layer.

Definition at line 216 of file node.cpp.

◆ handleInit()

void Node::handleInit ( LayerStatus & status )

privatevirtual

Implements canopen::Layer.

Definition at line 176 of file node.cpp.

◆ handleNMT()

void Node::handleNMT ( const can::Frame & msg )

private

Definition at line 115 of file node.cpp.

◆ handleRead()

void Node::handleRead	(	LayerStatus &	status,
		const LayerState &	current_state
	)

privatevirtual

Implements canopen::Layer.

Definition at line 148 of file node.cpp.

◆ handleRecover()

void Node::handleRecover ( LayerStatus & status )

privatevirtual

Implements canopen::Layer.

Definition at line 202 of file node.cpp.

◆ handleShutdown()

void Node::handleShutdown ( LayerStatus & status )

privatevirtual

Implements canopen::Layer.

Definition at line 210 of file node.cpp.

◆ handleWrite()

void Node::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)

privatevirtual

Implements canopen::Layer.

Definition at line 159 of file node.cpp.

◆ prepare()

bool Node::prepare ( )

Definition at line 68 of file node.cpp.

◆ reset()

bool Node::reset ( )

Definition at line 55 of file node.cpp.

◆ reset_com()

bool Node::reset_com ( )

Definition at line 44 of file node.cpp.

◆ setHeartbeatInterval()

void canopen::Node::setHeartbeatInterval ( )

inlineprivate

Definition at line 255 of file canopen.h.

◆ start()

bool Node::start ( )

Definition at line 76 of file node.cpp.

◆ stop()

bool Node::stop ( )

Definition at line 84 of file node.cpp.

◆ switchState()

void Node::switchState ( const uint8_t & s )

private

Definition at line 94 of file node.cpp.

◆ wait_for()

template<typename T >

int Node::wait_for	(	const State &	s,
		const T &	timeout
	)

private

Definition at line 122 of file node.cpp.

Member Data Documentation

◆ cond

boost::condition_variable canopen::Node::cond

private

Definition at line 236 of file canopen.h.

◆ cond_mutex

boost::mutex canopen::Node::cond_mutex

private

Definition at line 235 of file canopen.h.

◆ heartbeat_

ObjectStorage::Entry<ObjectStorage::DataType<ObjectDict::DEFTYPE_UNSIGNED16>::type> canopen::Node::heartbeat_

private

Definition at line 242 of file canopen.h.

◆ heartbeat_timeout_

boost::chrono::high_resolution_clock::time_point canopen::Node::heartbeat_timeout_

private

Definition at line 253 of file canopen.h.

◆ interface_

const can::CommInterfaceSharedPtr canopen::Node::interface_

private

Definition at line 238 of file canopen.h.

◆ mutex

boost::timed_mutex canopen::Node::mutex

private

Definition at line 234 of file canopen.h.

◆ nmt_listener_

can::FrameListenerConstSharedPtr canopen::Node::nmt_listener_

private

Definition at line 240 of file canopen.h.

◆ node_id_

const uint8_t canopen::Node::node_id_

Definition at line 194 of file canopen.h.

◆ pdo_

PDOMapper canopen::Node::pdo_

private

Definition at line 251 of file canopen.h.

◆ sdo_

SDOClient canopen::Node::sdo_

private

Definition at line 250 of file canopen.h.

◆ state_

State canopen::Node::state_

private

Definition at line 249 of file canopen.h.

◆ state_dispatcher_

can::SimpleDispatcher<StateListener> canopen::Node::state_dispatcher_

private

Definition at line 244 of file canopen.h.

◆ sync_

const SyncCounterSharedPtr canopen::Node::sync_

private

Definition at line 239 of file canopen.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ StateDelegate

◆ StateFunc

◆ StateListener

◆ StateListenerConstSharedPtr

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ Node()

Member Function Documentation

◆ addStateListener()

◆ checkHeartbeat()

◆ enterState()

◆ get()

◆ getHeartbeatInterval()

◆ getState()

◆ getStorage()

◆ handleDiag()

◆ handleHalt()

◆ handleInit()

◆ handleNMT()

◆ handleRead()

◆ handleRecover()

◆ handleShutdown()

◆ handleWrite()

◆ prepare()

◆ reset()

◆ reset_com()

◆ setHeartbeatInterval()

◆ start()

◆ stop()

◆ switchState()

◆ wait_for()

Member Data Documentation

◆ cond

◆ cond_mutex

◆ heartbeat_

◆ heartbeat_timeout_

◆ interface_

◆ mutex

◆ nmt_listener_

◆ node_id_

◆ pdo_

◆ sdo_

◆ state_

◆ state_dispatcher_

◆ sync_