A CANopen SDO client. More...

#include <can/CANOpenSDOClient.h>

Inheritance diagram for CANOpenSDOClient:

Public Member Functions
virtual void	onDestructFuture (uint64 requestID)

Constructors and destructor
	CANOpenSDOClient (CANInterfacePtr iIfc)
	The constructor. More...

virtual	~CANOpenSDOClient ()
	The destructor. More...

Expedited SDO uploads for standard data types.
template<typename T >
SDOFuture< T >	read (uint8 node, uint16 index, uint8 subIndex)
	Perform an expedited SDO upload (a read operation) More...

template<typename T >
T	readSync (uint8 node, uint16 index, uint8 subIndex, Duration waitTime=Duration::milliseconds(50), uint32 maxTries=5)
	Perform a synchronous SDO upload (read operation) More...

CANOpenNodeInfo	readNodeInfo (uint8 node)
	Reads informations about a node via SDOs. More...

Expedited SDO downloads for standard data types.
template<typename T >
SDOFuture< void >	write (uint8 node, uint16 index, uint8 subIndex, T value)
	Perform an expedited SDO download (a write operation) More...

template<typename T >
SDOFuture< void >	writeSync (uint8 node, uint16 index, uint8 subIndex, T value, Duration waitTime=Duration::milliseconds(50), uint32 maxTries=5)
	Perform a synchronous write operation. More...

Detailed Description

A CANopen SDO client.

An implementation of a CANopen SDO client. This class is able to read and write service data objects (SDO) from other CANopen nodes.

Constructor & Destructor Documentation

◆ CANOpenSDOClient()

CANOpenSDOClient ( CANInterfacePtr iIfc )

The constructor.

Parameters

[in] iIfc The interface to the CAN bus

◆ ~CANOpenSDOClient()

virtual ~CANOpenSDOClient ( )

virtual

The destructor.

Member Function Documentation

◆ read()

SDOFuture<T> read	(	uint8	node,
		uint16	index,
		uint8	subIndex
	)

inline

Perform an expedited SDO upload (a read operation)

Parameters

[in]	node	The requested CANopen node.
[in]	index	The index of the requested SDO.
[in]	subIndex	The requested sub-index.

Returns: The boost future object, which must be used for getting the answer.

◆ readSync()

T readSync	(	uint8	node,
		uint16	index,
		uint8	subIndex,
		Duration	waitTime = `Duration::milliseconds(50)`,
		uint32	maxTries = `5`
	)

inline

Perform a synchronous SDO upload (read operation)

Parameters

[in]	node	The requested CANopen node.
[in]	index	The index of the requested SDO.
[in]	subIndex	The requested sub-index.
[in]	waitTime	The wait time for the read operation.
[in]	maxTries	The maximum number of tries.

Returns: The value.

◆ readNodeInfo()

CANOpenNodeInfo readNodeInfo ( uint8 node )

Reads informations about a node via SDOs.

Parameters

[in] node ID of the node

Returns: Informations about the CANOpen node

◆ write()

SDOFuture<void> write	(	uint8	node,
		uint16	index,
		uint8	subIndex,
		T	value
	)

inline

Perform an expedited SDO download (a write operation)

Parameters

[in]	node	The requested CANopen node.
[in]	index	The index of the requested SDO.
[in]	subIndex	The requested sub-index.
[in]	value	The value to write.

Returns: The boost future object, which must be used for getting the answer.

◆ writeSync()

SDOFuture<void> writeSync	(	uint8	node,
		uint16	index,
		uint8	subIndex,
		T	value,
		Duration	waitTime = `Duration::milliseconds(50)`,
		uint32	maxTries = `5`
	)

inline

Perform a synchronous write operation.

Parameters

[in]	node	The requested CANopen node.
[in]	index	The index of the requested SDO.
[in]	subIndex	The requested sub-index.
[in]	value	The value.
[in]	waitTime	The wait time for the read operation.
[in]	maxTries	The maximum number of tries.