Struct CanopenNodeData

Defined in File canopen_system.hpp

Struct Documentation

struct CanopenNodeData

Public Types

using PDO_INDICES = std::pair<uint16_t, uint8_t>

Public Functions

inline void set_rpdo_data(ros2_canopen::COData d)

inline uint32_t get_rpdo_raw_data(uint16_t index, uint8_t subindex)

inline double get_rpdo_data(uint16_t index, uint8_t subindex)

Public Members

Ros2ControlNmtState nmt_state

RORos2ControlCOData rpdo_data

WORos2ControlCoData tpdo_data

Ros2ControlEmcyData emcy_data

WORos2ControlCoData rsdo

WORos2ControlCoData wsdo

std::unordered_map<PDO_INDICES, double, pair_hash> rpdo_data_map

std::unordered_map<PDO_INDICES, uint32_t, pair_hash> rpdo_raw_data_map