CAN::Open::Dispatch Struct Reference

CANOpen dispatch class. More...

#include <canopen.h>

Inherits Sink< SDO >, and Sink< Message >.

Collaboration diagram for CAN::Open::Dispatch:

Public Member Functions
void	nmt (NMT command, uint8_t nodeid)
	send NMT command to nodeid, rsp broadcast it (id = 0)
void	sync ()
	send SYNC message on network
void	heartbeat (uint8_t id, STATE state)
	send HEARTBEAT message to node id, signal own state
void	guard (uint8_t id)
	send GUARD message to node id
void	process ()
	call directly after CAN interrupt handler processed
bool	full () override
	check if sink is full
virtual void	push (const SDO &t)
	copy semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (SDO &&)=0
	move semantics does not check for space. guard by using 'if (!full) { ... }'
void	trypush (SDO &&t)
	use this if you don't care if it's going to be successful. data gets discarded if sink is full.
virtual void	push (const Message &t)
	copy semantics does not check for space. guard by using 'if (!full) { ... }'
virtual void	push (Message &&)=0
	move semantics does not check for space. guard by using 'if (!full) { ... }'
void	trypush (Message &&t)
	use this if you don't care if it's going to be successful. data gets discarded if sink is full.

Detailed Description

CANOpen dispatch class.

use this as a middle layer between the CAN bus and the Device devices to handle translation between the protocols. call this class' process directly after the CAN irqHandler

cf. https://www.microcontrol.net/wp-content/uploads/2021/10/td-03011e.pdf

cf. https://www.can-cia.org/fileadmin/resources/documents/brochures/co_poster.pdf

---

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

• comm/canopen.h