ark::canbus::SdoUpload::Segmented

Defined in header “ark/canbus/canopen/sdo_upload.hh”.

Method for segmented upload of data to the remote.

Methods

  • Segmented(uint16_t index, uint8_t subindex)

  • core::ByteBuffer initiate_transfer()
    Begins the segmented transfer. Returns the data payload to send to the SSDO to initiate the transfer.

  • std::vector< core::ByteBuffer > continue_transfer(const core::ByteBuffer & packet)
    Receives the data from a CAN packet, and sends a request for additional data (if necessary, or an empty optional if the buffer is complete). The returned buffer vector is a set of CANopen payloads that should be sent to the SSDO that we are transferring data to.

    Returns an empty vector if transfer is complete.