This class comprises all properties and functions to control Can bus This class has the implementation of two main abstract function from CanObject getDeviceMasage and sendDeviceMessage. More...

#include <CanBusObject.h>

Inherits CanOpen::CanObject.

Public Member Functions
	CanBusObject (pUserDeviceStruct interf, CANBUS ca, UaNode *link, int code)
	Constructor. More...

virtual	~CanBusObject (void)
	Destructor. More...

virtual void	setPortError (const int err, const char *errmsg, timeval &tv)
	Callback function to set bus error. More...

virtual UaStatus	getDeviceMessage (OpcUa_UInt32 code)
	this function is dummy for CanBusObject. There is no any readable data More...

void	openCanBus ()
	open can bus More...

void	closeCanBus ()
	close can bus More...

virtual UaStatus	sendDeviceMessage (OpcUa_UInt32 code, UaDataValue *value=0)
	send message to canbus More...

void	sendSync ()
	send sync message More...

virtual UaStatus	connectCode (OpcUa_UInt32 code,::xsd::cxx::tree::type conf, UaNode blink)
	connect function code to ua node to pass data More...

virtual UaVariant	getPropertyValue (OpcUa_UInt32 code, ::xsd::cxx::tree::type *conf)

CCanUACallback *	getCanUACallback ()
	get main can bus callback function More...

void	addPDO (CanPDOObject *pdoo)
	Add pdo object. More...

busNodes &	getListNodes ()

void	addNode (CanNodeObject *pnode)
	add Can node to the bus More...

void	sendInitNodeNmt ()
	send nmt message after startup More...

void	initialize ()
	initialize the bus. send RTR after startup More...

void	startSyncInterval ()
	start sync interval thread to send sync message More...

void	startNodeGuardingInterval ()
	start nodeGuarding interval thread to send NG messages More...

string &	getCanBusName ()

string &	getCanBusAddress ()

void	waitData ()

Public Member Functions inherited from CanOpen::CanObject
	CanObject (pUserDeviceStruct parent,::xsd::cxx::tree::type conf, UaNode *pAS, OpcUa_UInt32 code)
	Constructor. More...

virtual	~CanObject (void)
	Destructor. More...

OpcUa_Byte	getCanNodeId ()
	get Node Id More...

void	sendNMT (enum ::NMTcommand nmt)
	Send nmt message. More...

virtual void	setInitNmt (enum NMTcommand iNMT)
	Save initial nmt message which will send to initialize devices. More...

virtual void	setInitNmt (std::string sNmt)
	Save initial nmt message which will send to initialize devices. More...

virtual void	sendInitNmt ()
	send initial nmt message More...

CCanAccess *	getCanBusInterface ()
	get pointer to can bus interface More...

void	setCanBusInterface (CCanAccess *ccac)
	save pointer to can bus interface More...

IOManager *	getIOManager ()

Public Member Functions inherited from UserDevice::InterfaceUserDataBase
	InterfaceUserDataBase (pUserDeviceStruct parent,::xsd::cxx::tree::type conf, UaNode *pAS, OpcUa_UInt code)
	Constructor Also create the shared mutex which can be used to synchronize operation on device using lock/unlock function. More...

virtual	~InterfaceUserDataBase (void)
	Destructor. More...

Public Member Functions inherited from UserDevice::UserDeviceStruct
	UserDeviceStruct (pUserDeviceStruct parent, ::xsd::cxx::tree::type conf, UaNode *pAS, OpcUa_UInt code)
	constructor More...

void	lock ()
	lock shared mutex to protect More...

void	unlock ()
	unlock shared mutex More...

::UaMutexRefCounted *	getShareMutex ()
	get mutex More...

void	releaseMutex ()

OpcUa_Int32	countMutex ()

virtual	~UserDeviceStruct (void)

OpcUa_UInt	getCodeFunction ()

UserDeviceStruct *	getParentDevice ()

pUserDeviceStruct *	getTopInterface ()

pUserDeviceStruct *	getParent ()

virtual void	setInvalid ()

UaNode *	getAddressSpaceEntry ()

Private Member Functions
	UA_DISABLE_COPY (CanBusObject)

Private Attributes
CCanUACallback *	m_pCallback
	wait initial data after startup More...

SyncInterval *	m_pSyncIn
	Call back class to take data from can bus. More...

NodeGuardingInterval *	m_pNgIn
	Sync interval thread object. More...

OpcUa::BaseVariableType *	m_iPortError
	Node Guarding thread object. More...

OpcUa::BaseVariableType *	m_sPortErrorDescription
	Can Bus error reading from driver. More...

string	m_sBusName
	Description of the port error. More...

string	m_sBusParameters
	bus name More...

string	m_sBusAddress
	buss parameters More...

Additional Inherited Members
Protected Attributes inherited from CanOpen::CanObject
CCanAccess *	m_pCommIf
	Address of can interface. More...

OpcUa_Byte	m_CanNodeId
	Node Id for bus = 0. More...

enum NMTcommand	m_initNMTcommand
	initial NMT commands More...

IOManager *	m_pIOManager

Protected Attributes inherited from UserDevice::UserDeviceStruct
UaMutexRefCounted *	m_pSharedMutex

Detailed Description

This class comprises all properties and functions to control Can bus This class has the implementation of two main abstract function from CanObject getDeviceMasage and sendDeviceMessage.

Definition at line 27 of file CanBusObject.h.

Constructor & Destructor Documentation

◆ CanBusObject()

CanOpen::CanBusObject::CanBusObject	(	pUserDeviceStruct *	interf,
		CANBUS *	ca,
		UaNode *	link,
		int	code
	)

Constructor.

Parameters

interf	pointer to parent object usually null for CanBusObject
ca	XML configuration entry
link	pointer to Ua Node
code	code of function

Definition at line 11 of file CanBusObject.cpp.

◆ ~CanBusObject()

CanOpen::CanBusObject::~CanBusObject ( void )

virtual

Destructor.

Definition at line 71 of file CanBusObject.cpp.

Member Function Documentation

◆ addNode()

void CanOpen::CanBusObject::addNode ( CanNodeObject * pnode )

inline

add Can node to the bus

Parameters

pnode node to add

Definition at line 104 of file CanBusObject.h.

◆ addPDO()

void CanOpen::CanBusObject::addPDO ( CanPDOObject * pdoo )

inline

Add pdo object.

Parameters

pdoo	pointer to CanPDOObject

Definition at line 92 of file CanBusObject.h.

◆ closeCanBus()

void CanOpen::CanBusObject::closeCanBus ( void )

close can bus

Definition at line 41 of file CanBusObject.cpp.

◆ connectCode()

UaStatus CanOpen::CanBusObject::connectCode	(	OpcUa_UInt32	code,
		::xsd::cxx::tree::type *	conf,
		UaNode *	blink
	)

virtual

connect function code to ua node to pass data

Parameters

code	function code defines the operation
conf	XML object containing the configuration information for this object
blink	ua node to pass data

Implements UserDevice::InterfaceUserDataBase.

Definition at line 148 of file CanBusObject.cpp.

◆ getCanBusAddress()

string& CanOpen::CanBusObject::getCanBusAddress ( )

inline

Definition at line 117 of file CanBusObject.h.

◆ getCanBusName()

string& CanOpen::CanBusObject::getCanBusName ( )

inline

Definition at line 116 of file CanBusObject.h.

◆ getCanUACallback()

CCanUACallback* CanOpen::CanBusObject::getCanUACallback ( )

inline

get main can bus callback function

Definition at line 87 of file CanBusObject.h.

◆ getDeviceMessage()

virtual UaStatus CanOpen::CanBusObject::getDeviceMessage ( OpcUa_UInt32 code )

inlinevirtual

this function is dummy for CanBusObject. There is no any readable data

Implements UserDevice::InterfaceUserDataBase.

Definition at line 52 of file CanBusObject.h.

◆ getListNodes()

busNodes& CanOpen::CanBusObject::getListNodes ( )

inline

Definition at line 96 of file CanBusObject.h.

◆ getPropertyValue()

UaVariant CanOpen::CanBusObject::getPropertyValue	(	OpcUa_UInt32	code,
		::xsd::cxx::tree::type *	conf
	)

virtual

Implements UserDevice::InterfaceUserDataBase.

Definition at line 238 of file CanBusObject.cpp.

◆ initialize()

void CanOpen::CanBusObject::initialize ( )

initialize the bus. send RTR after startup

Definition at line 22 of file CanBusObject.cpp.

◆ openCanBus()

void CanOpen::CanBusObject::openCanBus ( void )

open can bus

Definition at line 27 of file CanBusObject.cpp.

◆ sendDeviceMessage()

UaStatus CanOpen::CanBusObject::sendDeviceMessage	(	OpcUa_UInt32	code,
		UaDataValue *	value = `0`
	)

virtual

send message to canbus

Parameters

code	code of function
value	data to send

Implements UserDevice::InterfaceUserDataBase.

Definition at line 96 of file CanBusObject.cpp.

◆ sendInitNodeNmt()

void CanOpen::CanBusObject::sendInitNodeNmt ( )

inline

send nmt message after startup

Definition at line 106 of file CanBusObject.h.

◆ sendSync()

void CanOpen::CanBusObject::sendSync ( )

inline

send sync message

Definition at line 71 of file CanBusObject.h.

◆ setPortError()

void CanOpen::CanBusObject::setPortError	(	const int	err,
		const char *	errmsg,
		timeval &	tv
	)

virtual

Callback function to set bus error.

Parameters

err	error code
errmsg	error message
tv	timestamps

Definition at line 258 of file CanBusObject.cpp.

◆ startNodeGuardingInterval()

void CanOpen::CanBusObject::startNodeGuardingInterval ( )

inline

start nodeGuarding interval thread to send NG messages

Definition at line 114 of file CanBusObject.h.

◆ startSyncInterval()

void CanOpen::CanBusObject::startSyncInterval ( )

inline

start sync interval thread to send sync message

Definition at line 111 of file CanBusObject.h.

◆ UA_DISABLE_COPY()

CanOpen::CanBusObject::UA_DISABLE_COPY ( CanBusObject )

private

◆ waitData()

void CanOpen::CanBusObject::waitData ( )

Definition at line 278 of file CanBusObject.cpp.

Member Data Documentation

◆ m_iPortError

OpcUa::BaseVariableType* CanOpen::CanBusObject::m_iPortError

private

Node Guarding thread object.

Definition at line 128 of file CanBusObject.h.

◆ m_pCallback

CCanUACallback* CanOpen::CanBusObject::m_pCallback

private

wait initial data after startup

Definition at line 123 of file CanBusObject.h.

◆ m_pNgIn

NodeGuardingInterval* CanOpen::CanBusObject::m_pNgIn

private

Sync interval thread object.

Definition at line 126 of file CanBusObject.h.

◆ m_pSyncIn

SyncInterval* CanOpen::CanBusObject::m_pSyncIn

private

Call back class to take data from can bus.

Definition at line 125 of file CanBusObject.h.

◆ m_sBusAddress

string CanOpen::CanBusObject::m_sBusAddress

private

buss parameters

Definition at line 133 of file CanBusObject.h.

◆ m_sBusName

string CanOpen::CanBusObject::m_sBusName

private

Description of the port error.

Definition at line 131 of file CanBusObject.h.

◆ m_sBusParameters

string CanOpen::CanBusObject::m_sBusParameters

private

bus name

Definition at line 132 of file CanBusObject.h.

◆ m_sPortErrorDescription

OpcUa::BaseVariableType* CanOpen::CanBusObject::m_sPortErrorDescription

private

Can Bus error reading from driver.

Definition at line 129 of file CanBusObject.h.

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

CanOpen/include/CanBusObject.h
CanOpen/src/CanBusObject.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CanBusObject()

◆ ~CanBusObject()

Member Function Documentation

◆ addNode()

◆ addPDO()

◆ closeCanBus()

◆ connectCode()

◆ getCanBusAddress()

◆ getCanBusName()

◆ getCanUACallback()

◆ getDeviceMessage()

◆ getListNodes()

◆ getPropertyValue()

◆ initialize()

◆ openCanBus()

◆ sendDeviceMessage()

◆ sendInitNodeNmt()

◆ sendSync()

◆ setPortError()

◆ startNodeGuardingInterval()

◆ startSyncInterval()

◆ UA_DISABLE_COPY()

◆ waitData()

Member Data Documentation

◆ m_iPortError

◆ m_pCallback

◆ m_pNgIn

◆ m_pSyncIn

◆ m_sBusAddress

◆ m_sBusName

◆ m_sBusParameters

◆ m_sPortErrorDescription