Represent a CANOpen PDO mapping. More...

#include <coe_utilities.h>

Public Types
using	iterator = std::vector< std::pair< uint8_t, uint32_t > >::iterator

using	const_iterator = std::vector< std::pair< uint8_t, uint32_t > >::const_iterator

Public Member Functions
	PDOMapping (ObjectDictionary &dico, uint8_t idx, bool is_tx)
	Construct a new PDOMapping object. More...

	PDOMapping (ObjectDictionary &dico, uint8_t idx, bool is_tx, std::initializer_list< std::string_view > objects)
	Construct a new PDOMapping object. More...

uint16_t	map_addr () const
	get address of the mapping in device memory More...

bool	has_entry (std::string_view entry) const
	Check whether the mapping use the corresponding entry. More...

const_iterator	begin () const
	get first iterator on mapped objects More...

const_iterator	end () const
	get terminal iterator on mapped objects More...

void	reset ()
	clean mapping memory More...

void	add_object (std::string_view obj)
	add an object to the mapping More...

bool	configure (SlaveDevice &eth_slave) const
	Configure an ethercat unit device with the corresponding mapping. More...

size_t	memory_size () const
	Get total size in bytes of the mapping. More...

size_t	memory_shift (std::string_view obj) const
	Get memory shift to access a given object of the mapping. More...

template<typename T >
bool	check_buffer ()
	Check whether a type can be used as a buffer for this mapping. More...

bool	check_entry_size (std::string_view obj, size_t bytes) const
	Check whether an entry has corresponding size. More...

bool	is_tx () const
	Give the type of mapping (TX or RX) More...

const ObjectDictionary &	dictionary () const
	Access reference dictionary. More...

Private Member Functions
void	check_entry_throws (std::string_view obj) const

Private Attributes
ObjectDictionary *	reference_dictionnary_

uint8_t	index_

bool	is_tx_

std::vector< std::pair< uint8_t, uint32_t > >	objects_mapping_

Detailed Description

Represent a CANOpen PDO mapping.

Member Typedef Documentation

◆ const_iterator

using ethercatcpp::coe::PDOMapping::const_iterator = std::vector<std::pair<uint8_t, uint32_t> >::const_iterator

◆ iterator

using ethercatcpp::coe::PDOMapping::iterator = std::vector<std::pair<uint8_t, uint32_t> >::iterator

Constructor & Destructor Documentation

◆ PDOMapping() [1/2]

ethercatcpp::coe::PDOMapping::PDOMapping	(	ObjectDictionary &	dico,
		uint8_t	idx,
		bool	is_tx
	)

Construct a new PDOMapping object.

index of the mapping is relative to 0x1600 in RX and 0x1A00 if TX

Parameters

dico	the dictionary referenced by the PDO mapping
idx	index of the mapping
is_tx	true if tx (master in) mapping, false if rx (master out) mapping

◆ PDOMapping() [2/2]

ethercatcpp::coe::PDOMapping::PDOMapping	(	ObjectDictionary &	dico,
		uint8_t	idx,
		bool	is_tx,
		std::initializer_list< std::string_view >	objects
	)

Construct a new PDOMapping object.

index of the mapping is relative to 0x1600 in RX and 0x1A00 if TX

Parameters

dico	the dictionary referenced by the PDO mapping
idx	index of the mapping
is_tx	true if tx (master in) mapping, false if rx (master out) mapping
objects	list of objects (in order) that define the mapping

Member Function Documentation

◆ add_object()

void ethercatcpp::coe::PDOMapping::add_object ( std::string_view obj )

add an object to the mapping

Parameters

obj	the name of the object's entry in dictionary

◆ begin()

const_iterator ethercatcpp::coe::PDOMapping::begin ( ) const

get first iterator on mapped objects

Returns: const_iterator

◆ check_buffer()

template<typename T >

bool ethercatcpp::coe::PDOMapping::check_buffer ( )

inline

Check whether a type can be used as a buffer for this mapping.

Template Parameters

T	the type to check against

Returns: true if type size match, false otherwise

◆ check_entry_size()

bool ethercatcpp::coe::PDOMapping::check_entry_size	(	std::string_view	obj,
		size_t	bytes
	)		const

Check whether an entry has corresponding size.

Parameters

obj	the object to check
bytes	the size to check

Returns: true if type size match, false otherwise

◆ check_entry_throws()

void ethercatcpp::coe::PDOMapping::check_entry_throws ( std::string_view obj ) const

private

◆ configure()

bool ethercatcpp::coe::PDOMapping::configure ( SlaveDevice & eth_slave ) const

Configure an ethercat unit device with the corresponding mapping.

will reset the mapping in device memory and will reset it accordingly to the mapping description

Parameters

eth_slave the unit device to configure

Returns: true i configuration succeeded, false otherwise

◆ dictionary()

const ObjectDictionary& ethercatcpp::coe::PDOMapping::dictionary ( ) const

Access reference dictionary.

Returns: const reference on dictionary used by mapping

◆ end()

const_iterator ethercatcpp::coe::PDOMapping::end ( ) const

get terminal iterator on mapped objects

Returns: const_iterator

◆ has_entry()

bool ethercatcpp::coe::PDOMapping::has_entry ( std::string_view entry ) const

Check whether the mapping use the corresponding entry.

Parameters

entry the CANOpen dictionary entry to check

Returns: true if mapping has entry, false otherwise

◆ is_tx()

bool ethercatcpp::coe::PDOMapping::is_tx ( ) const

Give the type of mapping (TX or RX)

Returns: true if mapping is a TX mapping, false if it is a RX mapping

◆ map_addr()

uint16_t ethercatcpp::coe::PDOMapping::map_addr ( ) const

get address of the mapping in device memory

depends on specified TR/RX and index

Returns: uint16_t the mapping address

◆ memory_shift()

size_t ethercatcpp::coe::PDOMapping::memory_shift ( std::string_view obj ) const

Get memory shift to access a given object of the mapping.

Parameters

obj	the name of the object in dictionary

Returns: size_t the shift to access the object, relative to mapping memory

◆ memory_size()

size_t ethercatcpp::coe::PDOMapping::memory_size ( ) const

Get total size in bytes of the mapping.

Returns: size_t the size of the mapping

◆ reset()

void ethercatcpp::coe::PDOMapping::reset ( )

clean mapping memory

Member Data Documentation

◆ index_

uint8_t ethercatcpp::coe::PDOMapping::index_

private

◆ is_tx_

bool ethercatcpp::coe::PDOMapping::is_tx_

private

◆ objects_mapping_

std::vector<std::pair<uint8_t, uint32_t> > ethercatcpp::coe::PDOMapping::objects_mapping_

private

◆ reference_dictionnary_

ObjectDictionary* ethercatcpp::coe::PDOMapping::reference_dictionnary_

private

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

coe_utilities.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ const_iterator

◆ iterator

Constructor & Destructor Documentation

◆ PDOMapping() [1/2]

◆ PDOMapping() [2/2]

Member Function Documentation

◆ add_object()

◆ begin()

◆ check_buffer()

◆ check_entry_size()

◆ check_entry_throws()

◆ configure()

◆ dictionary()

◆ end()

◆ has_entry()

◆ is_tx()

◆ map_addr()

◆ memory_shift()

◆ memory_size()

◆ reset()

Member Data Documentation

◆ index_

◆ is_tx_

◆ objects_mapping_

◆ reference_dictionnary_