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:

Public Types
typedef boost::shared_ptr< TPDO >	Ptr
	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_t >	m_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.

typedef std::vector<boost::shared_ptr<TPDO> > icl_hardware::canopen_schunk::TPDO::PtrList

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_id	ID of the node this TPDO belongs to
pdo_nr	numbering of this TPDO inside the node
can_device	handle 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:

sdo	Handle to the SDO object
mappings	List of MappingConfigurations that should be mapped into this PDO
transmission_type	Transmission type of this PDO
dummy_mapping	if 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_cycles	If 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:

f	Notification 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:

sdo	Handle to the SDO object
mappings	List of MappingConfigurations that should be mapped into this PDO
transmission_type	Transmission type of this PDO
dummy_mapping	if 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_cycles	If 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.