Class SimpleSlave

Inheritance Relationships

Base Type

  • public canopen::BasicSlave

Class Documentation

class SimpleSlave : public canopen::BasicSlave

Public Functions

inline ~SimpleSlave()
inline explicit BasicSlave(const std::string &node_name, bool intra_process_comms = false)

Protected Functions

inline void OnWrite(uint16_t idx, uint8_t subidx) noexcept override

This function is called when a value is written to the local object dictionary by an SDO or RPDO. Also copies the RPDO value to TPDO. A function from the class Device.

Parameters:

  • idx – The index of the PDO.

  • subidx – The subindex of the PDO.

inline void fake_periodic_messages()

This function is attached to a thread and sends periodic messages via 0x4004.

Protected Attributes

std::thread message_thread