Class LelyMasterBridge

Inheritance Relationships

Base Type

  • public lely::canopen::AsyncMaster

Class Documentation

class LelyMasterBridge : public lely::canopen::AsyncMaster

Lely Master Bridge.

Creates services to pass values between the CANopen executor and ROS executor. This is important because certain functions can only be called from within the thread of the CANopen executor.

Public Functions

inline LelyMasterBridge(ev_exec_t *exec, lely::io::TimerBase &timer, lely::io::CanChannelBase &chan, const std::string &dcf_txt, const std::string &dcf_bin = "", uint8_t id = (uint8_t)255U)

Construct a new Lely Master Bridge object.

Parameters:

  • exec – [in] Pointer to the executor

  • timer – [in] Pointer to the timer

  • chan – [in] Pointer to the channel

  • dcf_txt – [in] Path to the DCF file

  • dcf_bin – [in] Path to the DCF bin file

  • id – [in] CANopen node id of the master

std::future<bool> async_write_sdo(uint8_t id, COData data, uint8_t datatype)

Asynchronous call for writing to an SDO.

Parameters:

  • id – [in] CANopen node id of the target device

  • data – [in] Data to write

  • datatype – [in] Datatype of the data to write

Returns:

std::future<bool> A future that indicates if the write Operation was successful.

std::future<COData> async_read_sdo(uint8_t id, COData data, uint8_t datatype)
Parameters:

  • id – [in] CANopen node id of the target device

  • data – [in] Data to read, value is disregarded

  • datatype – [in] Datatype of the data to read

Returns:

std::future<COData> A future that returns the read result once the process finished.

std::future<bool> async_write_nmt(uint8_t id, uint8_t command)

async_write_nmt

Parameters:

  • id –

  • command –

Returns:

std::future<bool>

template<typename T>
inline void submit_write_sdo(uint8_t id, uint16_t idx, uint8_t subidx, T value)
template<typename T>
inline void submit_read_sdo(uint8_t id, uint16_t idx, uint8_t subidx)