The DS301Group class is the base Class for all canOpen device groups, providing basic interfaces to the DS301 functionality. More...

#include <DS301Group.h>

Inheritance diagram for icl_hardware::canopen_schunk::DS301Group:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const DS301Group >	ConstPtr
	Shared pointer to a const DS301Group.
typedef boost::shared_ptr < DS301Group >	Ptr
	Shared pointer to a DS301Group.
Public Member Functions
virtual void	appendPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const DS301Node::ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0, const int16_t node_id=-1)
	Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping.
virtual bool	deleteNodeFromId (const uint8_t node_id)
	Deletes a node with a given node id from the node list, if it is present. If the node can't be found in this group, this function will return false;.
virtual void	deleteNodes (std::vector< uint8_t > &deleted_ids)
	Deletes all nodes assigned to the group.
void	downloadPDOs ()
	DS301Group (const std::string &name="")
std::string	getName () const
	Returns the group's identifier string.
virtual std::vector < DS301Node::Ptr >	getNodes () const
	Returns the group's node vector.
virtual void	initPDOMappingSingle (const PDO::MappingConfigurationList &config, const uint16_t pdo_nr, const PDO::eTransmissionType &transmission_type, const DS301Node::ePDO_TYPE &pdo_type, const bool dummy_mapping=false, const uint8_t cyclic_timeout_cycles=0, const int16_t node_id=-1)
	Init PDO mapping with a given mapping configuration for a given pdo nr.
void	printPDOMapping (const uint8_t node_id=-1)
	Will query the PDO mapping from the device and print that to the output.
void	registerWSBroadcaster (boost::shared_ptr< icl_comm::websocket::WsBroadcaster > broadcaster)
	registerWSBroadcaster Adds a debug interface
void	uploadPDOs ()
Protected Member Functions
template<typename NodeT >
DS301Node::Ptr	addNode (const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor)
	Creates a new DS301Node and adds it to the group-.
Protected Attributes
std::string	m_name
std::vector< DS301Node::Ptr >	m_nodes
boost::shared_ptr < icl_comm::websocket::WsBroadcaster >	m_ws_broadcaster
	Interface to send out diagnostics data. Only available if compiled with _IC_BUILDER_ICL_COMM_WEBSOCKET_.
Friends
class	CanOpenController

Detailed Description

The DS301Group class is the base Class for all canOpen device groups, providing basic interfaces to the DS301 functionality.

The DS301 Group provides the interface to access devices using the DS301 protocol (canOpen). It implements the interfaces needs to set up devices of a group and to access the relevant functions, such as NMT to bring the nodes into the correct state. While the DS301Group implements the basic calls that can be used for canOpen device management, it is intended to be used as a Base class that is derived from by the profile specific groups that offer a hardware related interface

Definition at line 41 of file DS301Group.h.

Member Typedef Documentation

typedef boost::shared_ptr<const DS301Group> icl_hardware::canopen_schunk::DS301Group::ConstPtr

Shared pointer to a const DS301Group.

Reimplemented in icl_hardware::canopen_schunk::DS402Group.

Definition at line 47 of file DS301Group.h.

typedef boost::shared_ptr<DS301Group> icl_hardware::canopen_schunk::DS301Group::Ptr

Shared pointer to a DS301Group.

Reimplemented in icl_hardware::canopen_schunk::DS402Group.

Definition at line 45 of file DS301Group.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::DS301Group::DS301Group ( const std::string & name = "" )

Definition at line 30 of file DS301Group.cpp.

Member Function Documentation

template<typename NodeT >

DS301Node::Ptr icl_hardware::canopen_schunk::DS301Group::addNode	(	const uint8_t	node_id,
		const CanDevPtr	can_device,
		HeartBeatMonitor::Ptr	heartbeat_monitor
	)		`[protected]`

Creates a new DS301Node and adds it to the group-.

Note:: This method is protected, as new nodes should be added through the controller only (Which is why the controller is a friend class)

Parameters:

node_id	ID of the new node
can_device	Shared pointer to the can device

Returns:: shared pointer to the new DS301Node

Reimplemented in icl_hardware::canopen_schunk::DS402Group.

Definition at line 31 of file DS301Group.hpp.

void icl_hardware::canopen_schunk::DS301Group::appendPDOMappingSingle	(	const PDO::MappingConfigurationList &	config,
		const uint16_t	pdo_nr,
		const PDO::eTransmissionType &	transmission_type,
		const DS301Node::ePDO_TYPE &	pdo_type,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`,
		const int16_t	node_id = `-1`
	)		`[virtual]`

Appends one or more mapping parameters to the existing mapping. Note that the PDO will be disabled while appending another mapping.

Parameters:

config	List of MappingConfigurations that should be appended.
pdo_nr	Index of the PDO this mapping should be done.
transmission_type	Transmission type of this PDO
pdo_type	Is it a receive PDO or a transmit 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	In case of transmission type SYNCHRONOUS_CYCLIC 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.
node_id	If left out or given a negative value, the mapping will be applied to all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 80 of file DS301Group.cpp.

bool icl_hardware::canopen_schunk::DS301Group::deleteNodeFromId ( const uint8_t node_id ) [virtual]

Deletes a node with a given node id from the node list, if it is present. If the node can't be found in this group, this function will return false;.

Parameters:

node_id CANOPEN-Id of node that should be deleted.

Returns:: bool True if node was found and deleted, false if node was not found.

Definition at line 45 of file DS301Group.cpp.

void icl_hardware::canopen_schunk::DS301Group::deleteNodes ( std::vector< uint8_t > & deleted_ids ) [virtual]

Deletes all nodes assigned to the group.

Parameters:

[out] deleted_ids Vector of CANOPEN IDs of deleted objects

Definition at line 35 of file DS301Group.cpp.

void icl_hardware::canopen_schunk::DS301Group::downloadPDOs ( )

Definition at line 110 of file DS301Group.cpp.

std::string icl_hardware::canopen_schunk::DS301Group::getName ( ) const [inline]

Returns the group's identifier string.

Definition at line 130 of file DS301Group.h.

virtual std::vector<DS301Node::Ptr> icl_hardware::canopen_schunk::DS301Group::getNodes ( ) const [inline, virtual]

Returns the group's node vector.

Definition at line 54 of file DS301Group.h.

void icl_hardware::canopen_schunk::DS301Group::initPDOMappingSingle	(	const PDO::MappingConfigurationList &	config,
		const uint16_t	pdo_nr,
		const PDO::eTransmissionType &	transmission_type,
		const DS301Node::ePDO_TYPE &	pdo_type,
		const bool	dummy_mapping = `false`,
		const uint8_t	cyclic_timeout_cycles = `0`,
		const int16_t	node_id = `-1`
	)		`[virtual]`

Init PDO mapping with a given mapping configuration for a given pdo nr.

Parameters:

config	List of MappingConfigurations that should be mapped
pdo_nr	Index of the PDO this mapping should be done.
transmission_type	Transmission type of this PDO
pdo_type	Is it a receive PDO or a transmit 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.
node_id	If left out or given a negative value, the mapping will be applied to all nodes in the group, otherwise it will only be used for the given node-id.

Exceptions:

PDOException when something goes wrong.

Definition at line 58 of file DS301Group.cpp.

void icl_hardware::canopen_schunk::DS301Group::printPDOMapping ( const uint8_t node_id = -1 )

Will query the PDO mapping from the device and print that to the output.

Parameters:

node_id If no or negative id given, the function will be called on every node within this group. If a positive node_id is given, only the specified node will be affected.

Definition at line 118 of file DS301Group.cpp.

void icl_hardware::canopen_schunk::DS301Group::registerWSBroadcaster ( boost::shared_ptr< icl_comm::websocket::WsBroadcaster > broadcaster )

registerWSBroadcaster Adds a debug interface

Definition at line 129 of file DS301Group.cpp.

void icl_hardware::canopen_schunk::DS301Group::uploadPDOs ( )

Definition at line 102 of file DS301Group.cpp.

Friends And Related Function Documentation

friend class CanOpenController [friend]

Reimplemented in icl_hardware::canopen_schunk::DS402Group.

Definition at line 165 of file DS301Group.h.

Member Data Documentation

std::string icl_hardware::canopen_schunk::DS301Group::m_name [protected]

Definition at line 162 of file DS301Group.h.

std::vector<DS301Node::Ptr> icl_hardware::canopen_schunk::DS301Group::m_nodes [protected]

Definition at line 161 of file DS301Group.h.

boost::shared_ptr<icl_comm::websocket::WsBroadcaster> icl_hardware::canopen_schunk::DS301Group::m_ws_broadcaster [protected]

Interface to send out diagnostics data. Only available if compiled with _IC_BUILDER_ICL_COMM_WEBSOCKET_.

Definition at line 168 of file DS301Group.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation