CANOpenNMTMaster Class Reference

An implementation of a basic CANopen NMT master. More...

#include <can/CANOpenNMTMaster.h>

Public Member Functions
Constructors and destructor
	CANOpenNMTMaster (CANInterfacePtr iIfc)
	The constructor. More...
virtual	~CANOpenNMTMaster ()
	The destructor. More...
NMT callbacks
uint32	addHeartbeatCallback (CANOpenHeartbeat iCallback)
	A add new callback for CANopen heartbeats. More...
void	removeHeartbeatCallback (uint32 pFuncID)
	Unregister a heartbeat listener. More...
CANOpen NMT commands
void	startNode (uint8 iNodeID)
	Execute a 'Start node' command. More...
void	stopNode (uint8 iNodeID)
	Execute a 'Stop node' command. More...
void	preOperationalNode (uint8 iNodeID)
	Execute a 'Goto pre-operational' command. More...
void	resetNode (uint8 iNodeID)
	Execute a 'Reset_node' command. More...
void	resetCommunication (uint8 iNodeID)
	Execute a 'Reset_communication' command. More...
CANOpenNodeStatusFuture	getNodeStatus (uint8 iNodeID)
	Request the status of a CANopen node. More...

Protected Member Functions
Internal methods
void	onDestructFuture (uint64 requestID)

Friends
class	CANOpenNodeStatusFuture

Detailed Description

An implementation of a basic CANopen NMT master.

Constructor & Destructor Documentation

CANOpenNMTMaster()

CANOpenNMTMaster

(

CANInterfacePtr

iIfc

)

The constructor.

Parameters

[in]

iIfc

The interface to the CAN bus

~CANOpenNMTMaster()

virtual ~CANOpenNMTMaster ( )

virtual

The destructor.

Member Function Documentation

addHeartbeatCallback()

uint32 addHeartbeatCallback

(

CANOpenHeartbeat

iCallback

)

A add new callback for CANopen heartbeats.

Parameters

[in]

iCallback

The callback function.

Returns

An unique ID for the registered function.

removeHeartbeatCallback()

void removeHeartbeatCallback

(

uint32

pFuncID

)

Unregister a heartbeat listener.

Parameters

[in]

pFuncID

The ID of the listener function, which should be removed.

startNode()

void startNode

(

uint8

iNodeID

)

Execute a 'Start node' command.

Parameters

[in]

iNodeID

The node ID. If the iNodeID = 0, the whole network will be started.

stopNode()

void stopNode

(

uint8

iNodeID

)

Execute a 'Stop node' command.

Parameters

[in]

iNodeID

The node ID. If the iNodeID = 0, the whole network will be stopped.

preOperationalNode()

void preOperationalNode

(

uint8

iNodeID

)

Execute a 'Goto pre-operational' command.

Parameters

[in]

iNodeID

The node ID. If the iNodeID = 0, the whole network will go into the pre-operational mode.

resetNode()

void resetNode

(

uint8

iNodeID

)

Execute a 'Reset_node' command.

Parameters

[in]

iNodeID

The node ID. If the iNodeID = 0, the whole network will be reset.

resetCommunication()

void resetCommunication

(

uint8

iNodeID

)

Execute a 'Reset_communication' command.

Parameters

[in]

iNodeID

The node ID. If the iNodeID = 0, the whole network will be reset.

getNodeStatus()

CANOpenNodeStatusFuture getNodeStatus

(

uint8

iNodeID

)

Request the status of a CANopen node.

Parameters

[in]

iNodeId

The node ID.

Returns

A future object for the CANOpen status.

onDestructFuture()

void onDestructFuture ( uint64  requestID )

protected

Friends And Related Function Documentation

CANOpenNodeStatusFuture

friend class CANOpenNodeStatusFuture

friend

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

• include/can/CANOpenNMTMaster.h