rlCanClient Class Reference

#include <rlcanopenclient.h>

Inheritance diagram for rlCanClient:

Collaboration diagram for rlCanClient:

Public Member Functions
	rlCanClient (int _port, char *_remoteadress, int _boardnr)
	~rlCanClient ()
int	sdo_read (int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data)
int	sdo_write (int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data)
int	pdo_receive (int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data)
int	pdo_receive (int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data)
int	pdo_transmit (int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data)
int	pdo_transmit (int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data)
int	sendNMTCommand (int _nodeid, unsigned char _cmd, bool &returnstate)
int	restartBoard (int _restarttype, bool &returnstate)
int	getNodeState (int _nodeid, rlCanOpenTypes &_data)
Public Member Functions inherited from rlCanOpenClient
	rlCanOpenClient ()
	initializes the client on localhost port 5000 More...
	rlCanOpenClient (int _port, char *_remoteadress)
	initializes the client on given port and remove server adress More...
	~rlCanOpenClient ()
	destructor disconnects client More...
int	connect ()
	opens a new connection to a running rlCanOpenDaemon More...
int	disconnect ()
	disconnects from daemon More...
int	sdo_read (int _boardnr, int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data)
	remotely reads a certain object from the object dictionary of a node. More...
int	sdo_write (int _boardnr, int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data)
	remotely writes data into a certain object from the object dictionary of a node More...
int	pdo_receive (int _boardnr, int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data)
	receives single mapped pdo object from daemon. More...
int	pdo_receive (int _boardnr, int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data)
	receives an 8 byte pdo from daemon. More...
int	pdo_transmit (int _boardnr, int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data)
	sends a single mapped pdo object to daemon. More...
int	pdo_transmit (int _boardnr, int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data)
	sends an 8 byte pdo to daemon. More...
int	sendNMTCommand (int _boardnr, int _nodeid, unsigned char _cmd, bool &returnstate)
	sends a NMT command to daemon. More...
int	restartBoard (int _boardnr, int _restarttype, bool &returnstate)
	forces daemon to restart canopen device. More...
int	getNodeState (int _boardnr, int _nodeid, rlCanOpenTypes &_data)
	receives node state data of particular node from daemon. More...
void	setPort (int _port)
	setter for private port variable More...
void	setAdr (char *_adr)
	setter for private remoteadress variable More...

Private Attributes
int	boardnr

Additional Inherited Members
Public Types inherited from rlCanOpenClient
enum	rl_msg {   MSG_SEND = 0, MSG_RECEIVE = 1, MSG_SDO_READ = 0, MSG_SDO_WRITE = 1,   MSG_PDO_RECEIVE = 3, MSG_CONNECT = 5, MSG_DISCONNECT = 6, MSG_PDO_TRANSMIT = 4,   MSG_NMT_TRANSMIT = 7, MSG_RESTART_BOARD = 8, MSG_GET_NODE_STATE = 9 }

Detailed Description

Definition at line 158 of file rlcanopenclient.h.

Constructor & Destructor Documentation

rlCanClient()

rlCanClient::rlCanClient	(	int	_port,
		char *	_remoteadress,
		int	_boardnr
	)

Definition at line 18 of file rlcanopenclient.cpp.

            :rlCanOpenClient(_port, _remoteadress)
{
  boardnr = _boardnr;
  rlCanOpenClient::connect();
}

~rlCanClient()

rlCanClient::~rlCanClient

(

)

Definition at line 25 of file rlcanopenclient.cpp.

{
  rlCanOpenClient::disconnect();
}

Member Function Documentation

getNodeState()

int rlCanClient::getNodeState	(	int	_nodeid,
		rlCanOpenTypes &	_data
	)

Definition at line 86 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::getNodeState(boardnr, _nodeid, _data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

pdo_receive() [1/2]

int rlCanClient::pdo_receive	(	int	_nodeid,
		int	_pdonr,
		int	_mappingnr,
		rlCanOpenTypes &	_pdo_data
	)

Definition at line 44 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::pdo_receive(boardnr, _nodeid, _pdonr, _mappingnr, _pdo_data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

pdo_receive() [2/2]

int rlCanClient::pdo_receive	(	int	_nodeid,
		int	_pdonr,
		rlCanOpenTypes &	_pdo_data
	)

Definition at line 51 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::pdo_receive(boardnr, _nodeid, _pdonr, _pdo_data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

pdo_transmit() [1/2]

int rlCanClient::pdo_transmit	(	int	_nodeid,
		int	_pdonr,
		int	_mappingnr,
		rlCanOpenTypes &	_pdo_data
	)

Definition at line 58 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::pdo_receive(boardnr, _nodeid, _pdonr, _mappingnr, _pdo_data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

pdo_transmit() [2/2]

int rlCanClient::pdo_transmit	(	int	_nodeid,
		int	_pdonr,
		rlCanOpenTypes &	_pdo_data
	)

Definition at line 65 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::pdo_receive(boardnr, _nodeid, _pdonr, _pdo_data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

restartBoard()

int rlCanClient::restartBoard	(	int	_restarttype,
		bool &	returnstate
	)

Definition at line 79 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::restartBoard(boardnr, _restarttype, returnstate);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

sdo_read()

int rlCanClient::sdo_read	(	int	_nodeid,
		int	_objectindex,
		int	_subindex,
		rlCanOpenTypes &	_sdo_data
	)

Definition at line 30 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::sdo_read(boardnr, _nodeid, _objectindex, _subindex, _sdo_data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

sdo_write()

int rlCanClient::sdo_write	(	int	_nodeid,
		int	_objectindex,
		int	_subindex,
		rlCanOpenTypes &	_sdo_data
	)

Definition at line 37 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::sdo_write(boardnr, _nodeid, _objectindex, _subindex, _sdo_data);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

sendNMTCommand()

int rlCanClient::sendNMTCommand	(	int	_nodeid,
		unsigned char	_cmd,
		bool &	returnstate
	)

Definition at line 72 of file rlcanopenclient.cpp.

{
  int ret = rlCanOpenClient::sendNMTCommand(boardnr, _nodeid, _cmd, returnstate);
  if(ret != 1) rlCanOpenClient::connect();
  return ret;
}

Member Data Documentation

boardnr

int rlCanClient::boardnr

private

Definition at line 173 of file rlcanopenclient.h.

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

• rlcanopenclient.h
• rlcanopenclient.cpp