The SDO class represents Service Data Objects (SDO) that are used for slow access of the canOpen object dictionary. It uses the COB-ID which identifies entry with a 16bit index and 8 bit sub index and allows read and write operations. The SDO is mainly used to set up the system before the actual cyclic operation starts. This class holds the generic data, provides the up- and download functionality and parses incoming SDOs to ensure that they are correct. More...

#include <SDO.h>

Public Types
typedef boost::shared_ptr< const SDO >	ConstPtr

typedef boost::shared_ptr< SDO >	Ptr

Public Member Functions
bool	download (const bool normal_transfer, const uint16_t index, const uint8_t subindex, const std::vector< uint8_t > &usrdata)
	Downloads SDO data from the master to the slave (From PC to node). More...

template<typename T >
bool	download (const bool normal_transfer, const uint16_t index, const uint8_t subindex, const T &usrdata)
	Downloads SDO data from the master to the slave (From PC to node) More...

uint32_t	getResponseWaitTime () const
	Get the current SDO transfer response wait time. More...

	SDO (const uint8_t &node_id, const CanDevPtr &can_device)

void	setResponseWaitTime (const uint32_t wait_time_ms)
	Set the time in milliseconds that should be waited for an SDO response when performing a transfer. More...

void	update (const CanMsg &msg)
	update updates the SDO data with newly received messages More...

bool	upload (const bool normal_transfer, const uint16_t index, const uint8_t subindex, std::vector< uint8_t > &uploaded_data)
	Uploads data from a slave (node) to a master (PC). More...

template<typename T >
bool	upload (const bool normal_transfer, const uint16_t index, const uint8_t subindex, T &uploaded_data)
	Uploads data from a slave (node) to a master (PC). More...

Static Public Member Functions
static void	addErrorMapFromFile (const std::string &filename)
	Adds an error map from an INI file to all SDOs. This should be called once to get human readable errors. More...

Static Public Attributes
static unsigned char const	SDO_SEG_ABORT_TRANSFER =0x80

static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_1BYTE = 0x2F

static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_2BYTE = 0x2B

static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_3BYTE = 0x27

static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_4BYTE = 0x23

static unsigned char const	SDO_SEG_REQ_INIT_DOWNLOAD_xBYTE = 0x22

static unsigned char const	SDO_SEG_REQ_INIT_UPLOAD = 0x40

static unsigned char const	SDO_SEG_REQ_UPLOAD0 = 0x60

static unsigned char const	SDO_SEG_REQ_UPLOAD1 = 0x70

static unsigned char const	SDO_SEG_RES_INIT_DOWNLOAD = 0x60

static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_1BYTE = 0x4F

static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_2BYTE = 0x4B

static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_3BYTE = 0x47

static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_4BYTE = 0x43

static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_nBYTE = 0x41

static unsigned char const	SDO_SEG_RES_INIT_UPLOAD_xBYTE = 0x42

static uint16_t const	SDORX_ID = 0x600

static uint16_t const	SDOTX_ID = 0x580

Static Private Member Functions
static std::string	lookupErrorString (const uint32_t error_code)

Private Attributes
CanDevPtr	m_can_device

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

uint8_t	m_node_id

uint32_t	m_response_wait_time_ms

Static Private Attributes
static std::map< uint32_t, std::string >	m_error_map

Detailed Description

The SDO class represents Service Data Objects (SDO) that are used for slow access of the canOpen object dictionary. It uses the COB-ID which identifies entry with a 16bit index and 8 bit sub index and allows read and write operations. The SDO is mainly used to set up the system before the actual cyclic operation starts. This class holds the generic data, provides the up- and download functionality and parses incoming SDOs to ensure that they are correct.

Definition at line 40 of file SDO.h.

Member Typedef Documentation

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

Definition at line 44 of file SDO.h.

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

Definition at line 43 of file SDO.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::SDO::SDO	(	const uint8_t &	node_id,
		const CanDevPtr &	can_device
	)

Definition at line 38 of file SDO.cpp.

Member Function Documentation

void icl_hardware::canopen_schunk::SDO::addErrorMapFromFile ( const std::string & filename )

static

Adds an error map from an INI file to all SDOs. This should be called once to get human readable errors.

Parameters

filename filename of the ini file

Definition at line 339 of file SDO.cpp.

bool icl_hardware::canopen_schunk::SDO::download	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		const std::vector< uint8_t > &	usrdata
	)

Downloads SDO data from the master to the slave (From PC to node).

There exist expedited and normal (segmented) downloads in the DS301 standard. Currently, only expedited downloads are supported, which send data of up to 4 bytes directly with the download request.

Parameters

normal_transfer	expedited (false) or segmented (true) downloads
index	Index to where the data should be written (in the node)
subindex	Subindex to where the data should be written (in the node)
usrdata	Data that would be downloaded to the node.

Note: : There also exists an interface that accepts arbitrary datatypes that have a maximum size of 4 bytes.

Exceptions

ProtocolException or any exception inherited from that on errors

Returns: True if download succeeds, false otherwise

Definition at line 84 of file SDO.cpp.

template<typename T >

bool icl_hardware::canopen_schunk::SDO::download	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		const T &	usrdata
	)

inline

Downloads SDO data from the master to the slave (From PC to node)

This is just an overloaded interface to the vector interface. (see function definition without template). It accepts all kind of userdata types that can fit into 4 bytes of data. They will be automatically converted to a vector of bytes.

Parameters

normal_transfer	expedited (false) or segmented (true, not yet supported) downloads
index	Index to where the data should be written (in the node)
subindex	Subindex to where the data should be written (in the node)
usrdata	Data that should be downloaded to the node. This can be any basic datatype that fits into 4 bytes.

Exceptions

ProtocolException or any exception inherited from that on errors

Returns: True if download succeeds, false otherwise

Definition at line 124 of file SDO.h.

uint32_t icl_hardware::canopen_schunk::SDO::getResponseWaitTime ( ) const

inline

Get the current SDO transfer response wait time.

Definition at line 204 of file SDO.h.

std::string icl_hardware::canopen_schunk::SDO::lookupErrorString ( const uint32_t error_code )

staticprivate

Definition at line 323 of file SDO.cpp.

void icl_hardware::canopen_schunk::SDO::setResponseWaitTime ( const uint32_t wait_time_ms )

inline

Set the time in milliseconds that should be waited for an SDO response when performing a transfer.

Definition at line 199 of file SDO.h.

void icl_hardware::canopen_schunk::SDO::update ( const CanMsg & msg )

update updates the SDO data with newly received messages

Parameters

msg	can message that was preciously identified as SDO message

Exceptions

ProtocolException on errors

Definition at line 46 of file SDO.cpp.

bool icl_hardware::canopen_schunk::SDO::upload	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		std::vector< uint8_t > &	uploaded_data
	)

Uploads data from a slave (node) to a master (PC).

There exist expedited and normal (segmented) uploads in the DS301 standard. Currently, only expedited uploads are supported, which send data of up to 4 bytes directly with the first upload response.

Parameters

[in]	normal_transfer	expedited (false) or segmented (true, not yet supported) uploads
[in]	index	Index to where the data should be read (in the node)
[in]	subindex	Subindex to where the data should be read (in the node)
[out]	uploaded_data	uploaded data will be in this vector, if upload succeeds.

Exceptions

ProtocolException or any exception inherited from that on errors

Returns: True if upload succeeds, false otherwise.

Definition at line 209 of file SDO.cpp.

template<typename T >

bool icl_hardware::canopen_schunk::SDO::upload	(	const bool	normal_transfer,
		const uint16_t	index,
		const uint8_t	subindex,
		T &	uploaded_data
	)

inline

Uploads data from a slave (node) to a master (PC).

There exist expedited and normal (segmented) uploads in the DS301 standard. Currently, only expedited uploads are supported, which send data of up to 4 bytes directly with the first upload response.

Parameters

[in]	normal_transfer	expedited (false) or segmented (true, not yet supported) uploads
[in]	index	Index to where the data should be read (in the node)
[in]	subindex	Subindex to where the data should be read (in the node)
[out]	uploaded_data	uploaded data will be in here, if upload succeeds.

Exceptions

ProtocolException or any exception inherited from that on errors

Returns: True if upload succeeds, false otherwise.

Definition at line 168 of file SDO.h.

Member Data Documentation

CanDevPtr icl_hardware::canopen_schunk::SDO::m_can_device

private

Definition at line 211 of file SDO.h.

std::vector<uint8_t> icl_hardware::canopen_schunk::SDO::m_data_buffer

private

Definition at line 217 of file SDO.h.

boost::mutex icl_hardware::canopen_schunk::SDO::m_data_buffer_mutex

private

Definition at line 215 of file SDO.h.

boost::condition_variable icl_hardware::canopen_schunk::SDO::m_data_buffer_updated_cond

private

Definition at line 216 of file SDO.h.

bool icl_hardware::canopen_schunk::SDO::m_data_update_received

private

Definition at line 214 of file SDO.h.

std::map< uint32_t, std::string > icl_hardware::canopen_schunk::SDO::m_error_map

staticprivate

Definition at line 219 of file SDO.h.

uint8_t icl_hardware::canopen_schunk::SDO::m_node_id

private

Definition at line 210 of file SDO.h.

uint32_t icl_hardware::canopen_schunk::SDO::m_response_wait_time_ms

private

Definition at line 212 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_ABORT_TRANSFER =0x80

static

Definition at line 75 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_INIT_DOWNLOAD_1BYTE = 0x2F

static

Definition at line 59 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_INIT_DOWNLOAD_2BYTE = 0x2B

static

Definition at line 60 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_INIT_DOWNLOAD_3BYTE = 0x27

static

Definition at line 61 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_INIT_DOWNLOAD_4BYTE = 0x23

static

Definition at line 62 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_INIT_DOWNLOAD_xBYTE = 0x22

static

Definition at line 58 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_INIT_UPLOAD = 0x40

static

Definition at line 65 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_UPLOAD0 = 0x60

static

Definition at line 72 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_REQ_UPLOAD1 = 0x70

static

Definition at line 73 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_DOWNLOAD = 0x60

static

Definition at line 63 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_UPLOAD_1BYTE = 0x4F

static

Definition at line 68 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_UPLOAD_2BYTE = 0x4B

static

Definition at line 69 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_UPLOAD_3BYTE = 0x47

static

Definition at line 70 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_UPLOAD_4BYTE = 0x43

static

Definition at line 71 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_UPLOAD_nBYTE = 0x41

static

Definition at line 66 of file SDO.h.

unsigned char const icl_hardware::canopen_schunk::SDO::SDO_SEG_RES_INIT_UPLOAD_xBYTE = 0x42

static

Definition at line 67 of file SDO.h.

uint16_t const icl_hardware::canopen_schunk::SDO::SDORX_ID = 0x600

static

Definition at line 55 of file SDO.h.

uint16_t const icl_hardware::canopen_schunk::SDO::SDOTX_ID = 0x580

static

Standard base CAN IDs of SDO for transmit and receive:

Transmit/receive is as seen by the SCHUNK module (as usual for CANopen). => Transmit is Module to PC => Receive is PC to Module

Definition at line 54 of file SDO.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation