This class ensure the communication with CanOpen node. More...

#include <CanNodeObject.h>

Public Member Functions
	CanNodeObject (pUserDeviceStruct interf, NODE ca, UaNode *blink, OpcUa_UInt32 code)
	Constructor. More...

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

virtual UaStatus	getDeviceMessage (OpcUa_UInt32 code)
	Read data From device There is no any date for this object. More...

virtual UaStatus	sendDeviceMessage (OpcUa_UInt32 code, UaDataValue *value=0)
	send data or command on device Abstract function to send data based on type id (buldingAutomationTypeIds.h) More...

void	passSDO (const CanMsgStruct *cms)

virtual void	setState (const CanMsgStruct *cms)
	send SDO message More...

virtual void	setEmergencyEvent (const CanMsgStruct *cms)
	set value of nmt and bootup message More...

void	setRequestSDO (CanSDOObject *msdo)
	set Emergency event More...

void	freeRequestSDO ()
	unlock SDo operation 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)

virtual void	sendNG ()
	send NG message for this node More...

void	NGComing (OpcUa_Byte st)
	Handle the ng message Set state or recover after bootup message. More...

void	setInitLive ()

void	decNGCounter ()
	counter of missing NG message ( 0 means node disconnected ) More...

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 ()

Static Public Attributes
static OpcUa_Int16	ngCounter

static OpcUa_Boolean	DisconectRecovery

Private Member Functions
void	setDisconnectedState ()
	current sdo object executing sdo operation More...

void	setStateRecursevely (UaNode *p, bool state)
	set disconnection state 1 for node More...

void	setLastState ()

OpcUa_Boolean	isAlive ()
	set the last state after disconnection More...

Private Attributes
UaMutex	m_mutexReqSDO

CanSDOObject *	m_requestedSDO
	sdo mutex to protect sdo operation . should one on one moment More...

OpcUa_Byte	m_currentState

OpcUa_Byte	m_lastState

OpcUa_Int16	m_repeatedCounter

OpcUa::BaseVariableType *	m_state

OpcUa::BaseVariableType *	m_iBootupCounter

OpcUa::BaseVariableType *	m_EmergencyErrorCode

OpcUa::BaseVariableType *	m_EmergencyCounter

OpcUa::BaseVariableType *	m_Error

OpcUa::BaseVariableType *	m_SpecificErrorCodeByte1

OpcUa::BaseVariableType *	m_SpecificErrorCodeByte2

OpcUa::BaseVariableType *	m_SpecificErrorCodeByte3

OpcUa::BaseVariableType *	m_SpecificErrorCodeByte4

OpcUa::BaseVariableType *	m_SpecificErrorCodeByte5

list< OpcUa::BaseVariableType * >	m_programList

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 ensure the communication with CanOpen node.

Can Node has unique node id.
CanOpen protocol defines several can message which cobid calculates based on nodeid.
These are emergency messages, nodeguarding and bootup messages
This object has links to UaVariable which the data are passed to
Also this object ensure the synchronization of sdo operation. Should be one operation in one moment.
Each can node has a state which is taken from NG or HB message.
Also CanNodeObject ensue to recover after rebooting or disconnection of node in proper state

Definition at line 27 of file CanNodeObject.h.

Constructor & Destructor Documentation

◆ CanNodeObject()

CanOpen::CanNodeObject::CanNodeObject	(	pUserDeviceStruct *	interf,
		NODE *	ca,
		UaNode *	blink,
		OpcUa_UInt32	code
	)

Constructor.

Parameters

interf	the parent interface in this case is a CanBUsObject
ca	XML description of node properties
blink	the UaNode which control this device
code	function code of operation

Definition at line 13 of file CanNodeObject.cpp.

◆ ~CanNodeObject()

CanOpen::CanNodeObject::~CanNodeObject ( void )

virtual

Destructor.

Definition at line 27 of file CanNodeObject.cpp.

Member Function Documentation

◆ connectCode()

UaStatus CanOpen::CanNodeObject::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	configuration data to link node
blink	ua node to pass data

Implements UserDevice::InterfaceUserDataBase.

Definition at line 210 of file CanNodeObject.cpp.

◆ decNGCounter()

void CanOpen::CanNodeObject::decNGCounter ( )

inline

counter of missing NG message ( 0 means node disconnected )

Definition at line 105 of file CanNodeObject.h.

◆ freeRequestSDO()

void CanOpen::CanNodeObject::freeRequestSDO ( )

inline

unlock SDo operation

Definition at line 63 of file CanNodeObject.h.

◆ getDeviceMessage()

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

inlinevirtual

Read data From device There is no any date for this object.

Parameters

code	function code of operation

Implements UserDevice::InterfaceUserDataBase.

Definition at line 47 of file CanNodeObject.h.

◆ getPropertyValue()

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

virtual

Implements UserDevice::InterfaceUserDataBase.

Definition at line 282 of file CanNodeObject.cpp.

◆ isAlive()

OpcUa_Boolean CanOpen::CanNodeObject::isAlive ( )

inlineprivate

set the last state after disconnection

Definition at line 129 of file CanNodeObject.h.

◆ NGComing()

void CanOpen::CanNodeObject::NGComing ( OpcUa_Byte st )

inline

Handle the ng message Set state or recover after bootup message.

Parameters

st	state byte from ng or boot up message

Definition at line 84 of file CanNodeObject.h.

◆ passSDO()

void CanOpen::CanNodeObject::passSDO ( const CanMsgStruct * cms )

Definition at line 32 of file CanNodeObject.cpp.

◆ sendDeviceMessage()

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

virtual

send data or command on device Abstract function to send data based on type id (buldingAutomationTypeIds.h)

Parameters

code	function code
value	data to send

Implements UserDevice::InterfaceUserDataBase.

Definition at line 42 of file CanNodeObject.cpp.

◆ sendNG()

void CanOpen::CanNodeObject::sendNG ( )

virtual

send NG message for this node

Definition at line 200 of file CanNodeObject.cpp.

◆ setDisconnectedState()

void CanOpen::CanNodeObject::setDisconnectedState ( )

private

current sdo object executing sdo operation

Definition at line 331 of file CanNodeObject.cpp.

◆ setEmergencyEvent()

void CanOpen::CanNodeObject::setEmergencyEvent ( const CanMsgStruct * cms )

virtual

set value of nmt and bootup message

distribute emergency message can message to different items

Definition at line 147 of file CanNodeObject.cpp.

◆ setInitLive()

void CanOpen::CanNodeObject::setInitLive ( )

inline

Definition at line 99 of file CanNodeObject.h.

◆ setLastState()

void CanOpen::CanNodeObject::setLastState ( )

private

Definition at line 306 of file CanNodeObject.cpp.

◆ setRequestSDO()

void CanOpen::CanNodeObject::setRequestSDO ( CanSDOObject * msdo )

inline

set Emergency event

lock SDO operation

Definition at line 57 of file CanNodeObject.h.

◆ setState()

void CanOpen::CanNodeObject::setState ( const CanMsgStruct * cms )

virtual

send SDO message

Definition at line 83 of file CanNodeObject.cpp.

◆ setStateRecursevely()

void CanOpen::CanNodeObject::setStateRecursevely	(	UaNode *	p,
		bool	state
	)

private

set disconnection state 1 for node

Definition at line 355 of file CanNodeObject.cpp.

Member Data Documentation

◆ DisconectRecovery

OpcUa_Boolean CanOpen::CanNodeObject::DisconectRecovery

static

Definition at line 118 of file CanNodeObject.h.

◆ m_currentState

OpcUa_Byte CanOpen::CanNodeObject::m_currentState

private

Definition at line 131 of file CanNodeObject.h.

◆ m_EmergencyCounter

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_EmergencyCounter

private

Definition at line 138 of file CanNodeObject.h.

◆ m_EmergencyErrorCode

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_EmergencyErrorCode

private

Definition at line 137 of file CanNodeObject.h.

◆ m_Error

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_Error

private

Definition at line 139 of file CanNodeObject.h.

◆ m_iBootupCounter

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_iBootupCounter

private

Definition at line 136 of file CanNodeObject.h.

◆ m_lastState

OpcUa_Byte CanOpen::CanNodeObject::m_lastState

private

Definition at line 132 of file CanNodeObject.h.

◆ m_mutexReqSDO

UaMutex CanOpen::CanNodeObject::m_mutexReqSDO

private

Definition at line 122 of file CanNodeObject.h.

◆ m_programList

list<OpcUa::BaseVariableType *> CanOpen::CanNodeObject::m_programList

private

Definition at line 145 of file CanNodeObject.h.

◆ m_repeatedCounter

OpcUa_Int16 CanOpen::CanNodeObject::m_repeatedCounter

private

Definition at line 133 of file CanNodeObject.h.

◆ m_requestedSDO

CanSDOObject* CanOpen::CanNodeObject::m_requestedSDO

private

sdo mutex to protect sdo operation . should one on one moment

Definition at line 123 of file CanNodeObject.h.

◆ m_SpecificErrorCodeByte1

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_SpecificErrorCodeByte1

private

Definition at line 140 of file CanNodeObject.h.

◆ m_SpecificErrorCodeByte2

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_SpecificErrorCodeByte2

private

Definition at line 141 of file CanNodeObject.h.

◆ m_SpecificErrorCodeByte3

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_SpecificErrorCodeByte3

private

Definition at line 142 of file CanNodeObject.h.

◆ m_SpecificErrorCodeByte4

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_SpecificErrorCodeByte4

private

Definition at line 143 of file CanNodeObject.h.

◆ m_SpecificErrorCodeByte5

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_SpecificErrorCodeByte5

private

Definition at line 144 of file CanNodeObject.h.

◆ m_state

OpcUa::BaseVariableType* CanOpen::CanNodeObject::m_state

private

Definition at line 135 of file CanNodeObject.h.

◆ ngCounter

OpcUa_Int16 CanOpen::CanNodeObject::ngCounter

static

Definition at line 117 of file CanNodeObject.h.

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

CanOpen/include/CanNodeObject.h
CanOpen/src/CanNodeObject.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CanNodeObject()

◆ ~CanNodeObject()

Member Function Documentation

◆ connectCode()

◆ decNGCounter()

◆ freeRequestSDO()

◆ getDeviceMessage()

◆ getPropertyValue()

◆ isAlive()

◆ NGComing()

◆ passSDO()

◆ sendDeviceMessage()

◆ sendNG()

◆ setDisconnectedState()

◆ setEmergencyEvent()

◆ setInitLive()

◆ setLastState()

◆ setRequestSDO()

◆ setState()

◆ setStateRecursevely()

Member Data Documentation

◆ DisconectRecovery

◆ m_currentState

◆ m_EmergencyCounter

◆ m_EmergencyErrorCode

◆ m_Error

◆ m_iBootupCounter

◆ m_lastState

◆ m_mutexReqSDO

◆ m_programList

◆ m_repeatedCounter

◆ m_requestedSDO

◆ m_SpecificErrorCodeByte1

◆ m_SpecificErrorCodeByte2

◆ m_SpecificErrorCodeByte3

◆ m_SpecificErrorCodeByte4

◆ m_SpecificErrorCodeByte5

◆ m_state

◆ ngCounter