The CanOpenController class is the main entry point for any calls to the canOpen System. More...

#include <CanOpenController.h>

Inheritance diagram for icl_hardware::canopen_schunk::CanOpenController:

Public Types
typedef boost::shared_ptr < const CanOpenController >	ConstPtr
	Shared pointer to a const CanOpenController.
typedef boost::shared_ptr < CanOpenController >	Ptr
	Shared pointer to a CanOpenController.
Public Member Functions
template<typename GroupT >
void	addGroup (const std::string &identifier)
	Adds a new node group with a given identifier. The group's type is given as template parameter.
template<typename NodeT >
void	addNode (const uint8_t node_id, const std::string &group_name="default")
	Adds a new node to a group. If the group is not found (e.g. it was not created before), nothing will be done.
	CanOpenController (const std::string can_device_identifier="/dev/pcanusb0", const uint32_t baud_rate=500, const std::string &resource_folder_location="")
	CanOpenController constructor.
void	deleteGroup (const std::string &identifier)
	Deletes a group with the given identifier. Also deletes all its nodes.
void	deleteNode (const uint8_t node_id)
	Delete a node with a given CANOPEN-ID.
void	enablePPMotion (const int16_t node_id=-1)
	When using the ProfilePositionMode is used, in addition to setting the target motion has to be triggered manually. Therefor, intermediate syncs are needed, which is why this is done in the controller-.
CanDevPtr	getCanDevice () const
	Get a handle to the current CAN device. This is basically for debugging with a Dummy Can Device.
template<typename GroupT >
boost::shared_ptr< GroupT >	getGroup (const std::string &index="default")
	Returns a shared pointer to the group with a given index if possible.
template<typename NodeT >
boost::shared_ptr< NodeT >	getNode (const uint8_t node_id)
	Returns a shared pointer handle to a node.
std::vector< uint8_t >	getNodeList ()
	Returns a list containing all used node ids.
void	initNodes (const int16_t node_id=-1)
	Initializes a node with a given ID or all nodes.
void	processCanMsgCallback (const icl_hardware::can::tCanMessage &msg)
	Incoming can messages are processed in this function and forwarded to the addressed node.
void	reconnectCanDevice (const std::string &can_identifier, const uint32_t baud_rate)
	Reconnects the CAN device with the given configuration.
void	stopAll ()
	Calls stop() on all registered nodes.
void	syncAll ()
	Downloads all the RPDOs, Sends a Sync and Uploads all the TPDOs.
	~CanOpenController ()
Private Member Functions
DS301Node::Ptr	getNodeById (const uint8_t node_id)
	get a handle for a node identified by its CANOPEN-ID
void	getResources ()
	Load resources like error-code lookup maps.
void	init ()
Private Attributes
CanDevPtr	m_can_device
	Handle for the can device.
std::map< std::string, DS301Group::Ptr >	m_groups
	Map of all node groups, with string identifier.
HeartBeatMonitor::Ptr	m_heartbeat_monitor
std::map< uint8_t, DS301Node::Ptr >	m_nodes
	Map of all nodes with id identifier.
uint32_t	m_polling_period_ms
	The CAN message polling period duration in milliseconds.
CanOpenReceiveThreadPtr	m_receive_thread
	Handle for the can receive thread.
std::string	m_resource_folder_location
	This folder contains for example the error code definitions.
size_t	m_ws_broadcast_counter
size_t	m_ws_broadcast_rate
	Counts sync cycles.
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_.

std::string	m_can_device_name
int32_t	m_can_device_flags
unsigned char	m_can_device_acceptance_code
unsigned char	m_can_device_acceptance_mask
uint32_t	m_can_device_send_fifo_size
uint32_t	m_can_device_receive_fifo_size
uint32_t	m_can_device_baud_rate

Detailed Description

The CanOpenController class is the main entry point for any calls to the canOpen System.

The CanOpenController is the main entry point for any calls to the whole canOpen System. It is used to set up the hardware (i.e. can device used), configure device groups and add individual devices to these groups. It is also the entity providing access to the device groups, handling all the required type conversions as to provide the most safe and convenient way to access the hardware. Actual control commands (i.e. move a motor to a given position) are usually send directly to the corresponding group as each group might present an individual interface.

Definition at line 65 of file CanOpenController.h.

Member Typedef Documentation

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

Shared pointer to a const CanOpenController.

Definition at line 71 of file CanOpenController.h.

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

Shared pointer to a CanOpenController.

Definition at line 69 of file CanOpenController.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::CanOpenController::CanOpenController	(	const std::string	can_device_identifier = `"/dev/pcanusb0"`,
		const uint32_t	baud_rate = `500`,
		const std::string &	resource_folder_location = `""`
	)

CanOpenController constructor.

Parameters:

can_device_identifier	identifier string for the can device
baud_rate	baud rate of the can device
resource_folder_location	Folder location that contains ini files with error messages. If none is given, it defaults to the environment variable CANOPEN_RESOURCE_PATH. If that is not defined either, it searches in the resources subfolder where the program was launched. If no error description is found at all, plain error codes will be displayed instead.

Definition at line 40 of file CanOpenController.cpp.

icl_hardware::canopen_schunk::CanOpenController::~CanOpenController ( )

Definition at line 60 of file CanOpenController.cpp.

Member Function Documentation

template<typename GroupT >

void icl_hardware::canopen_schunk::CanOpenController::addGroup ( const std::string & identifier )

Adds a new node group with a given identifier. The group's type is given as template parameter.

Parameters:

identifier Name of the new group

Definition at line 34 of file CanOpenController.hpp.

template<typename NodeT >

void icl_hardware::canopen_schunk::CanOpenController::addNode	(	const uint8_t	node_id,
		const std::string &	group_name = `"default"`
	)

Adds a new node to a group. If the group is not found (e.g. it was not created before), nothing will be done.

Parameters:

node_id	ID of the new node
group_name	The new node will belong to this group.

Definition at line 80 of file CanOpenController.hpp.

void icl_hardware::canopen_schunk::CanOpenController::deleteGroup ( const std::string & identifier )

Deletes a group with the given identifier. Also deletes all its nodes.

Parameters:

identifier The group's identifier

Definition at line 451 of file CanOpenController.cpp.

void icl_hardware::canopen_schunk::CanOpenController::deleteNode ( const uint8_t node_id )

Delete a node with a given CANOPEN-ID.

Parameters:

node_id CANOPEN-ID of the node that should be deleted.

Definition at line 482 of file CanOpenController.cpp.

void icl_hardware::canopen_schunk::CanOpenController::enablePPMotion ( const int16_t node_id = -1 )

When using the ProfilePositionMode is used, in addition to setting the target motion has to be triggered manually. Therefor, intermediate syncs are needed, which is why this is done in the controller-.

Parameters:

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 611 of file CanOpenController.cpp.

CanDevPtr icl_hardware::canopen_schunk::CanOpenController::getCanDevice ( ) const [inline]

Get a handle to the current CAN device. This is basically for debugging with a Dummy Can Device.

Returns:: icl_hardware::canopen_schunk::CanDevPtr Handle to the CAN device

Definition at line 165 of file CanOpenController.h.

template<typename GroupT >

boost::shared_ptr< GroupT > icl_hardware::canopen_schunk::CanOpenController::getGroup ( const std::string & index = "default" )

Returns a shared pointer to the group with a given index if possible.

Note that this function will return a NULL pointer if either the given index does not exist or if the group cannot be casted to the requested type. Error messages are output in both cases. Therefore, check for NULL pointers after calling this method.

Parameters:

index The group's identifier string

Returns:: boost::shared_ptr< GroupT > Shared pointer of type GroupT

Definition at line 56 of file CanOpenController.hpp.

template<typename NodeT >

boost::shared_ptr< NodeT > icl_hardware::canopen_schunk::CanOpenController::getNode ( const uint8_t node_id )

Returns a shared pointer handle to a node.

Parameters:

node_id The node's CanOpen-ID

Exceptions:

NotFoundException	when no node with the given ID can be found
std::bad_cast	when the node can't be casted into the requested template type.

Definition at line 124 of file CanOpenController.hpp.

DS301Node::Ptr icl_hardware::canopen_schunk::CanOpenController::getNodeById ( const uint8_t node_id ) [private]

get a handle for a node identified by its CANOPEN-ID

Definition at line 502 of file CanOpenController.cpp.

std::vector< uint8_t > icl_hardware::canopen_schunk::CanOpenController::getNodeList ( )

Returns a list containing all used node ids.

Definition at line 592 of file CanOpenController.cpp.

void icl_hardware::canopen_schunk::CanOpenController::getResources ( ) [private]

Load resources like error-code lookup maps.

Definition at line 515 of file CanOpenController.cpp.

void icl_hardware::canopen_schunk::CanOpenController::init ( ) [private]

Start can device and Message receiving throws a DeviceException if the device can't be initialized

Definition at line 320 of file CanOpenController.cpp.

void icl_hardware::canopen_schunk::CanOpenController::initNodes ( const int16_t node_id = -1 )

Initializes a node with a given ID or all nodes.

Parameters:

node_id If left out or given a negative value, the function will be called for all nodes in the group, otherwise it will only be used for the given node-id.

Definition at line 69 of file CanOpenController.cpp.

void icl_hardware::canopen_schunk::CanOpenController::processCanMsgCallback ( const icl_hardware::can::tCanMessage & msg )

Incoming can messages are processed in this function and forwarded to the addressed node.

Parameters: