ark::canbus::CanOpenNode

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

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Methods

• CanOpenNode(uint32_t master_node_id, uint32_t node_id, std::function< void(const CanOpenPacket &)> egress_listener)

• ~CanOpenNode()

• CanOpenNode()

• CanOpenNode()

• CanOpenNode & operator=()

• CanOpenNode & operator=()

• uint32_t master_node_id()

• uint32_t node_id()

• const NodeInterfaceStatus & status()

• void register_heartbeat_callback(std::function< void(const NmtStatus &)> callback)

• void tpdo_clear()

• void rpdo_clear()

• std::shared_ptr< const TransmitPdo > tpdo(PdoConfig config, std::function< void(PdoResult)> callback)

• std::shared_ptr< ReceivePdo > rpdo(PdoConfig config)

• std::shared_ptr< UploadSdo > upload(SdoIndex index, std::chrono::steady_clock::time_point now, std::function< void(SdoResult)> callback, std::chrono::nanoseconds timeout)

• std::shared_ptr< DownloadSdo > download(SdoIndex index, std::chrono::steady_clock::time_point now, ark::core::ByteBuffer data, std::function< void(SdoResult)> callback, std::chrono::nanoseconds timeout)

• void add_sdo_queue(std::chrono::steady_clock::time_point now, SdoQueue && queue)

• void handle_packet(const CanOpenPacket & packet, std::chrono::steady_clock::time_point now)

• void send_packet(const CanOpenPacket & packet)

• void send_nmt_command(NmtCommandCode command)

• bool configure_pdos(std::chrono::steady_clock::time_point now)

• void poll(std::chrono::steady_clock::time_point now)

• void reset_interface(std::chrono::steady_clock::time_point now)

• void set_block_threshold(size_t minimum_block_bytes)

• void set_block_segments(uint8_t initial_block_segments)