Lely Driver Bridge. More...

#include <lely_driver_bridge.hpp>

Inheritance diagram for ros2_canopen::LelyDriverBridge:

Collaboration diagram for ros2_canopen::LelyDriverBridge:

Public Member Functions
	LelyDriverBridge (ev_exec_t *exec, canopen::AsyncMaster &master, uint8_t id, std::string name, std::string eds, std::string bin, std::chrono::milliseconds timeout=20ms)
	Construct a new Lely Bridge object. More...

std::future< bool >	async_sdo_write (COData data)
	Asynchronous SDO Write. More...

template<typename T >
std::future< bool >	async_sdo_write_typed (uint16_t idx, uint8_t subidx, T value)

template<typename T >
bool	sync_sdo_write_typed (uint16_t idx, uint8_t subidx, T value, std::chrono::milliseconds timeout)

std::future< COData >	async_sdo_read (COData data)
	Aynchronous SDO Read. More...

template<typename T >
std::future< T >	async_sdo_read_typed (uint16_t idx, uint8_t subidx)

template<typename T >
bool	sync_sdo_read_typed (uint16_t idx, uint8_t subidx, T &value, std::chrono::milliseconds timeout)

std::future< canopen::NmtState >	async_request_nmt ()
	Asynchronous request for NMT. More...

std::shared_ptr< SafeQueue< COData > >	get_rpdo_queue ()
	Asynchronous request for RPDO. More...

std::shared_ptr< SafeQueue< COEmcy > >	get_emcy_queue ()
	Asynchronous request for EMCY. More...

void	tpdo_transmit (COData data)
	Executes a TPDO transmission. More...

void	nmt_command (canopen::NmtCommand command)
	Executes a NMT Command. More...

uint8_t	get_id ()
	Get the nodeid. More...

bool	wait_for_boot ()
	Wait for device to be booted. More...

void	set_sync_function (std::function< void()> on_sync_function)

void	unset_sync_function ()

void	Boot ()
	Request master to boot device. More...

bool	is_booted ()
	Indicates if Device is booted. More...

template<typename T >
void	submit_write (COData data)

template<typename T >
void	submit_read (COData data)

template<typename T >
const T	universal_get_value (uint16_t index, uint8_t subindex)

template<typename T >
void	universal_set_value (uint16_t index, uint8_t subindex, T value)

Protected Member Functions
void	OnSync (uint8_t cnt, const time_point &t) noexcept override

void	OnState (canopen::NmtState state) noexcept override
	OnState Callback. More...

virtual void	OnBoot (canopen::NmtState st, char es, const ::std::string &what) noexcept override
	OnBoot Callback This callback is called when the Boot process of the slave that was initiated by the master has been success fully finished. More...

void	OnRpdoWrite (uint16_t idx, uint8_t subidx) noexcept override
	OnRpdoWrite Callback. More...

void	OnEmcy (uint16_t eec, uint8_t er, uint8_t msef[5]) noexcept override

Protected Attributes
std::unique_ptr< DriverDictionary >	dictionary_

std::mutex	dictionary_mutex_

std::shared_ptr< PDOMap >	pdo_map_

std::shared_ptr< std::promise< COData > >	sdo_read_data_promise

std::shared_ptr< std::promise< bool > >	sdo_write_data_promise

std::mutex	sdo_mutex

bool	running

std::condition_variable	sdo_cond

std::promise< canopen::NmtState >	nmt_state_promise

std::atomic< bool >	nmt_state_is_set

std::mutex	nmt_mtex

std::promise< COData >	rpdo_promise

std::atomic< bool >	rpdo_is_set

std::mutex	pdo_mtex

std::shared_ptr< SafeQueue< COData > >	rpdo_queue

std::promise< COEmcy >	emcy_promise

std::atomic< bool >	emcy_is_set

std::mutex	emcy_mtex

std::shared_ptr< SafeQueue< COEmcy > >	emcy_queue

std::atomic< bool >	booted

char	boot_status

std::string	boot_what

canopen::NmtState	boot_state

std::condition_variable	boot_cond

std::mutex	boot_mtex

uint8_t	nodeid

std::string	name_

std::chrono::milliseconds	sdo_timeout

std::function< void()>	on_sync_function_

Detailed Description

Lely Driver Bridge.

This class provides functionalities for bridging between Lelycore drivers and standard C++ functions. This means it provides async and sync functions for interacting with CANopen devices using synchronisation functionalities from C++ standard library.

Constructor & Destructor Documentation

◆ LelyDriverBridge()

ros2_canopen::LelyDriverBridge::LelyDriverBridge	(	ev_exec_t *	exec,
		canopen::AsyncMaster &	master,
		uint8_t	id,
		std::string	name,
		std::string	eds,
		std::string	bin,
		std::chrono::milliseconds	timeout = `20ms`
	)

inline

Construct a new Lely Bridge object.

Parameters

[in]	exec	Executor to use
[in]	master	Master to use
[in]	id	NodeId to connect to
[in]	eds	EDS file
[in]	bin	BIN file (concise dcf)
[in]	timeout	Timeout in milliseconds for SDO reads/writes

Member Function Documentation

◆ OnSync()

void ros2_canopen::LelyDriverBridge::OnSync	(	uint8_t	cnt,
		const time_point &	t
	)

inlineoverrideprotectednoexcept

◆ OnState()

void ros2_canopen::LelyDriverBridge::OnState ( canopen::NmtState state )

overrideprotectednoexcept

OnState Callback.

This callback function is called when an Nmt state change is detected on the connected device.

Parameters

[in] state NMT State

◆ OnBoot()

virtual void ros2_canopen::LelyDriverBridge::OnBoot	(	canopen::NmtState	st,
		char	es,
		const ::std::string &	what
	)

overrideprotectedvirtualnoexcept

OnBoot Callback This callback is called when the Boot process of the slave that was initiated by the master has been success fully finished.

Parameters

st
es
what

◆ OnRpdoWrite()

void ros2_canopen::LelyDriverBridge::OnRpdoWrite	(	uint16_t	idx,
		uint8_t	subidx
	)

overrideprotectednoexcept

OnRpdoWrite Callback.

This callback function is called when an RPDO write request is received from the connected device.

Todo:: This function should use a threadsafe queue not the icky implementation we have now.

Parameters

[in]	idx	Object Index
[in]	subidx	Object Subindex

◆ OnEmcy()

void ros2_canopen::LelyDriverBridge::OnEmcy	(	uint16_t	eec,
		uint8_t	er,
		uint8_t	msef[5]
	)

overrideprotectednoexcept

The function invoked when an EMCY message is received from the remote node.

Todo:: This function should use a threadsafe queue not the icky implementation we have now.

Parameters

eec	the emergency error code.
er	the error register.
msef	the manufacturer-specific error code.

◆ async_sdo_write()

std::future<bool> ros2_canopen::LelyDriverBridge::async_sdo_write ( COData data )

Asynchronous SDO Write.

Writes the data passed to the function via SDO to the connected device.

Parameters

[in] data Data to written.

Returns: std::future<bool> Returns an std::future<bool> that is fulfilled when the write request was done. An error is stored when the write request was unsuccessful.

◆ async_sdo_write_typed()

template<typename T >

std::future<bool> ros2_canopen::LelyDriverBridge::async_sdo_write_typed	(	uint16_t	idx,
		uint8_t	subidx,
		T	value
	)

inline

◆ sync_sdo_write_typed()

template<typename T >

bool ros2_canopen::LelyDriverBridge::sync_sdo_write_typed	(	uint16_t	idx,
		uint8_t	subidx,
		T	value,
		std::chrono::milliseconds	timeout
	)

inline

◆ async_sdo_read()

std::future<COData> ros2_canopen::LelyDriverBridge::async_sdo_read ( COData data )

Aynchronous SDO Read.

Reads the indicated SDO object from the connected device.

Parameters

[in] data Data to be read, the data entry is not used.

Returns: std::future<COData> Returns an std::future<COData> that is fulfilled when the read request was done. The result of the request is stored in the future. An error is stored when the read request was unsuccessful.

◆ async_sdo_read_typed()

template<typename T >

std::future<T> ros2_canopen::LelyDriverBridge::async_sdo_read_typed	(	uint16_t	idx,
		uint8_t	subidx
	)

inline

◆ sync_sdo_read_typed()

template<typename T >

bool ros2_canopen::LelyDriverBridge::sync_sdo_read_typed	(	uint16_t	idx,
		uint8_t	subidx,
		T &	value,
		std::chrono::milliseconds	timeout
	)

inline

◆ async_request_nmt()

std::future<canopen::NmtState> ros2_canopen::LelyDriverBridge::async_request_nmt ( )

Asynchronous request for NMT.

Waits for an NMT state change to occur. The new state is stored in the future returned by the function.

Returns: std::future<canopen::NmtState> The returned future is set when NMT State changes.

◆ get_rpdo_queue()

std::shared_ptr<SafeQueue<COData> > ros2_canopen::LelyDriverBridge::get_rpdo_queue ( )

Asynchronous request for RPDO.

Waits for an RPDO write request to be received from the slave. The content of the request are stored in the returned future.

Todo:: This function should use a threadsafe queue not the icky implementation we have now.

Returns: std::future<COData> The returned future is set when an RPDO event is detected.

◆ get_emcy_queue()

std::shared_ptr<SafeQueue<COEmcy> > ros2_canopen::LelyDriverBridge::get_emcy_queue ( )

Asynchronous request for EMCY.

Todo:: This function should use a threadsafe queue not the icky implementation we have now.

Returns: std::future<COEmcy> The returned future is set when an EMCY event is detected.

◆ tpdo_transmit()

void ros2_canopen::LelyDriverBridge::tpdo_transmit ( COData data )

Executes a TPDO transmission.

This function executes a TPDO transmission. The{false, true} object specified in the input data is sent if it is registered as a TPDO with the master.

Parameters

[in] data Object and data to be written

◆ nmt_command()

void ros2_canopen::LelyDriverBridge::nmt_command ( canopen::NmtCommand command )

Executes a NMT Command.

This function sends the NMT command specified as parameter.

Parameters

[in] command NMT Command to execute

◆ get_id()

uint8_t ros2_canopen::LelyDriverBridge::get_id ( )

Get the nodeid.

Returns: uint8_t

◆ wait_for_boot()

bool ros2_canopen::LelyDriverBridge::wait_for_boot ( )

inline

Wait for device to be booted.

Returns: true; false

◆ set_sync_function()

void ros2_canopen::LelyDriverBridge::set_sync_function ( std::function< void()> on_sync_function )

inline

◆ unset_sync_function()

void ros2_canopen::LelyDriverBridge::unset_sync_function ( )

inline

◆ Boot()

void ros2_canopen::LelyDriverBridge::Boot ( )

inline

Request master to boot device.

◆ is_booted()

bool ros2_canopen::LelyDriverBridge::is_booted ( )

inline

Indicates if Device is booted.

Returns: true; false

◆ submit_write()

template<typename T >

void ros2_canopen::LelyDriverBridge::submit_write ( COData data )

inline

◆ submit_read()

template<typename T >

void ros2_canopen::LelyDriverBridge::submit_read ( COData data )

inline

◆ universal_get_value()

template<typename T >

const T ros2_canopen::LelyDriverBridge::universal_get_value	(	uint16_t	index,
		uint8_t	subindex
	)

inline

◆ universal_set_value()

template<typename T >

void ros2_canopen::LelyDriverBridge::universal_set_value	(	uint16_t	index,
		uint8_t	subindex,
		T	value
	)

inline

Member Data Documentation

◆ dictionary_

std::unique_ptr<DriverDictionary> ros2_canopen::LelyDriverBridge::dictionary_

protected

◆ dictionary_mutex_

std::mutex ros2_canopen::LelyDriverBridge::dictionary_mutex_

protected

◆ pdo_map_

std::shared_ptr<PDOMap> ros2_canopen::LelyDriverBridge::pdo_map_

protected

◆ sdo_read_data_promise

std::shared_ptr<std::promise<COData> > ros2_canopen::LelyDriverBridge::sdo_read_data_promise

protected

◆ sdo_write_data_promise

std::shared_ptr<std::promise<bool> > ros2_canopen::LelyDriverBridge::sdo_write_data_promise

protected

◆ sdo_mutex

std::mutex ros2_canopen::LelyDriverBridge::sdo_mutex

protected

◆ running

bool ros2_canopen::LelyDriverBridge::running

protected

◆ sdo_cond

std::condition_variable ros2_canopen::LelyDriverBridge::sdo_cond

protected

◆ nmt_state_promise

std::promise<canopen::NmtState> ros2_canopen::LelyDriverBridge::nmt_state_promise

protected

◆ nmt_state_is_set

std::atomic<bool> ros2_canopen::LelyDriverBridge::nmt_state_is_set

protected

◆ nmt_mtex

std::mutex ros2_canopen::LelyDriverBridge::nmt_mtex

protected

◆ rpdo_promise

std::promise<COData> ros2_canopen::LelyDriverBridge::rpdo_promise

protected

◆ rpdo_is_set

std::atomic<bool> ros2_canopen::LelyDriverBridge::rpdo_is_set

protected

◆ pdo_mtex

std::mutex ros2_canopen::LelyDriverBridge::pdo_mtex

protected

◆ rpdo_queue

std::shared_ptr<SafeQueue<COData> > ros2_canopen::LelyDriverBridge::rpdo_queue

protected

◆ emcy_promise

std::promise<COEmcy> ros2_canopen::LelyDriverBridge::emcy_promise

protected

◆ emcy_is_set

std::atomic<bool> ros2_canopen::LelyDriverBridge::emcy_is_set

protected

◆ emcy_mtex

std::mutex ros2_canopen::LelyDriverBridge::emcy_mtex

protected

◆ emcy_queue

std::shared_ptr<SafeQueue<COEmcy> > ros2_canopen::LelyDriverBridge::emcy_queue

protected

◆ booted

std::atomic<bool> ros2_canopen::LelyDriverBridge::booted

protected

◆ boot_status

char ros2_canopen::LelyDriverBridge::boot_status

protected

◆ boot_what

std::string ros2_canopen::LelyDriverBridge::boot_what

protected

◆ boot_state

canopen::NmtState ros2_canopen::LelyDriverBridge::boot_state

protected

◆ boot_cond

std::condition_variable ros2_canopen::LelyDriverBridge::boot_cond

protected

◆ boot_mtex

std::mutex ros2_canopen::LelyDriverBridge::boot_mtex

protected

◆ nodeid

uint8_t ros2_canopen::LelyDriverBridge::nodeid

protected

◆ name_

std::string ros2_canopen::LelyDriverBridge::name_

protected

◆ sdo_timeout

std::chrono::milliseconds ros2_canopen::LelyDriverBridge::sdo_timeout

protected

◆ on_sync_function_

std::function<void()> ros2_canopen::LelyDriverBridge::on_sync_function_

protected

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

/home/runner/work/ros2_canopen/ros2_canopen/canopen_base_driver/include/canopen_base_driver/lely_driver_bridge.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LelyDriverBridge()

Member Function Documentation

◆ OnSync()

◆ OnState()

◆ OnBoot()

◆ OnRpdoWrite()

◆ OnEmcy()

◆ async_sdo_write()

◆ async_sdo_write_typed()

◆ sync_sdo_write_typed()

◆ async_sdo_read()

◆ async_sdo_read_typed()

◆ sync_sdo_read_typed()

◆ async_request_nmt()

◆ get_rpdo_queue()

◆ get_emcy_queue()

◆ tpdo_transmit()

◆ nmt_command()

◆ get_id()

◆ wait_for_boot()

◆ set_sync_function()

◆ unset_sync_function()

◆ Boot()

◆ is_booted()

◆ submit_write()

◆ submit_read()

◆ universal_get_value()

◆ universal_set_value()

Member Data Documentation

◆ dictionary_

◆ dictionary_mutex_

◆ pdo_map_

◆ sdo_read_data_promise

◆ sdo_write_data_promise

◆ sdo_mutex

◆ running

◆ sdo_cond

◆ nmt_state_promise

◆ nmt_state_is_set

◆ nmt_mtex

◆ rpdo_promise

◆ rpdo_is_set

◆ pdo_mtex

◆ rpdo_queue

◆ emcy_promise

◆ emcy_is_set

◆ emcy_mtex

◆ emcy_queue

◆ booted

◆ boot_status

◆ boot_what

◆ boot_state

◆ boot_cond

◆ boot_mtex

◆ nodeid

◆ name_

◆ sdo_timeout

◆ on_sync_function_