canopen::Node Class Reference

#include <canopen.h>

Inheritance diagram for canopen::Node:

List of all members.

Public Types
enum	State {   Unknown = 255, BootUp = 0, Stopped = 4, Operational = 5,   PreOperational = 127 }
typedef fastdelegate::FastDelegate1 < const State & >	StateDelegate
typedef can::Listener< const StateDelegate, const State & >	StateListener
Public Member Functions
StateListener::Ptr	addStateListener (const StateDelegate &s)
void	enterState (const State &s)
template<typename T >
T	get (const ObjectDict::Key &k)
const State	getState ()
const boost::shared_ptr < ObjectStorage >	getStorage ()
	Node (const boost::shared_ptr< can::CommInterface > interface, const boost::shared_ptr< ObjectDict > dict, uint8_t node_id, const boost::shared_ptr< SyncCounter > sync=boost::shared_ptr< SyncCounter >())
bool	prepare ()
bool	reset ()
bool	reset_com ()
bool	start ()
bool	stop ()
Public Attributes
const uint8_t	node_id_
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 boost::shared_ptr < can::CommInterface >	interface_
boost::timed_mutex	mutex
can::CommInterface::FrameListener::Ptr	nmt_listener_
PDOMapper	pdo_
SDOClient	sdo_
State	state_
can::SimpleDispatcher < StateListener >	state_dispatcher_
const boost::shared_ptr < SyncCounter >	sync_

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Detailed Description

Definition at line 180 of file canopen.h.

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Member Typedef Documentation

typedef fastdelegate::FastDelegate1<const State&> canopen::Node::StateDelegate

Definition at line 199 of file canopen.h.

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

Definition at line 200 of file canopen.h.

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Member Enumeration Documentation

enum canopen::Node::State

Enumerator:

Unknown
BootUp
Stopped
Operational
PreOperational

Definition at line 182 of file canopen.h.

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Constructor & Destructor Documentation

Node::Node	(	const boost::shared_ptr< can::CommInterface >	interface,
		const boost::shared_ptr< ObjectDict >	dict,
		uint8_t	node_id,
		const boost::shared_ptr< SyncCounter >	sync = boost::shared_ptr<SyncCounter>()
	)

Definition at line 30 of file node.cpp.

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Member Function Documentation

StateListener::Ptr canopen::Node::addStateListener

(

const StateDelegate &

s

)

[inline]

Definition at line 202 of file canopen.h.

bool Node::checkHeartbeat

(

)

[private]

Definition at line 141 of file node.cpp.

void canopen::Node::enterState

(

const State &

s

)

template<typename T >

T canopen::Node::get

(

const ObjectDict::Key &

k

)

[inline]

Definition at line 206 of file canopen.h.

uint16_t canopen::Node::getHeartbeatInterval

(

)

[inline, private]

Definition at line 242 of file canopen.h.

const Node::State Node::getState

(

)

Definition at line 39 of file node.cpp.

const boost::shared_ptr<ObjectStorage> canopen::Node::getStorage

(

)

[inline]

Definition at line 191 of file canopen.h.

void Node::handleDiag

(

LayerReport &

report

)

[private, virtual]

Implements canopen::Layer.

Definition at line 167 of file node.cpp.

void Node::handleHalt

(

LayerStatus &

status

)

[private, virtual]

Implements canopen::Layer.

Definition at line 216 of file node.cpp.

void Node::handleInit

(

LayerStatus &

status

)

[private, virtual]

Implements canopen::Layer.

Definition at line 176 of file node.cpp.

void Node::handleNMT

(

const can::Frame &

msg

)

[private]

Definition at line 115 of file node.cpp.

void Node::handleRead	(	LayerStatus &	status,
		const LayerState &	current_state
	)		[private, virtual]

Implements canopen::Layer.

Definition at line 148 of file node.cpp.

void Node::handleRecover

(

LayerStatus &

status

)

[private, virtual]

Implements canopen::Layer.

Definition at line 202 of file node.cpp.

void Node::handleShutdown

(

LayerStatus &

status

)

[private, virtual]

Implements canopen::Layer.

Definition at line 210 of file node.cpp.

void Node::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)		[private, virtual]

Implements canopen::Layer.

Definition at line 159 of file node.cpp.

bool Node::prepare

(

)

Definition at line 68 of file node.cpp.

bool Node::reset

(

)

Definition at line 55 of file node.cpp.

bool Node::reset_com

(

)

Definition at line 44 of file node.cpp.

void canopen::Node::setHeartbeatInterval

(

)

[inline, private]

Definition at line 243 of file canopen.h.

bool Node::start

(

)

Definition at line 76 of file node.cpp.

bool Node::stop

(

)

Definition at line 84 of file node.cpp.

void Node::switchState

(

const uint8_t &

s

)

[private]

Definition at line 94 of file node.cpp.

template<typename T >

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

Definition at line 122 of file node.cpp.

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Member Data Documentation

boost::condition_variable canopen::Node::cond [private]

Definition at line 224 of file canopen.h.

boost::mutex canopen::Node::cond_mutex [private]

Definition at line 223 of file canopen.h.

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

Definition at line 230 of file canopen.h.

boost::chrono::high_resolution_clock::time_point canopen::Node::heartbeat_timeout_ [private]

Definition at line 241 of file canopen.h.

const boost::shared_ptr<can::CommInterface> canopen::Node::interface_ [private]

Definition at line 226 of file canopen.h.

boost::timed_mutex canopen::Node::mutex [private]

Definition at line 222 of file canopen.h.

can::CommInterface::FrameListener::Ptr canopen::Node::nmt_listener_ [private]

Definition at line 228 of file canopen.h.

const uint8_t canopen::Node::node_id_

Definition at line 185 of file canopen.h.

PDOMapper canopen::Node::pdo_ [private]

Definition at line 239 of file canopen.h.

SDOClient canopen::Node::sdo_ [private]

Definition at line 238 of file canopen.h.

State canopen::Node::state_ [private]

Definition at line 237 of file canopen.h.

can::SimpleDispatcher<StateListener> canopen::Node::state_dispatcher_ [private]

Definition at line 232 of file canopen.h.

const boost::shared_ptr<SyncCounter> canopen::Node::sync_ [private]

Definition at line 227 of file canopen.h.

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

• canopen.h
• node.cpp