File Information
Library: IoT/CANopen
Package: CANopen
Header: IoT/CANopen/Object.h
Description
This class implements an object in the Object Dictionary.
Inheritance
Direct Base Classes: Poco::RefCountedObject
All Base Classes: Poco::RefCountedObject
Known Derived Classes: VarObject, ArrayObject, SDOParameterObject
Member Summary
Member Functions: access, code, copy, read, structure, type, write, writeImpl
Inherited Functions: duplicate, referenceCount, release
Types
Ptr
typedef Poco::AutoPtr < Object > Ptr;
Enumerations
Access
Object access attributes.
OBJ_ACCESS_RW = 0x01
Read and write access.
OBJ_ACCESS_WO = 0x02
Write only access.
OBJ_ACCESS_RO = 0x03
Read only access.
OBJ_ACCESS_CONST = 0x04
Read only access, value is constant.
ObjectCode
The object code shall denote what kind of object is at a particular index in the object dictionary.
OBJ_NULL = 0x00
An object with no data fields.
OBJ_DOMAIN = 0x02
Large variable amount of data e.g. executable program code.
OBJ_DEFTYPE = 0x05
Denotes a type definition such as a BOOLEAN, UNSIGNED16, FLOAT and so on.
OBJ_DEFSTRUCT = 0x06
Defines a new record type.
OBJ_VAR = 0x07
A single value such as an UNSIGNED8, BOOLEAN, FLOAT, INTEGER16, VISIBLE STRING, etc.
OBJ_ARRAY = 0x08
A multiple data field object where each data field is a simple variable of the same basic data type e.g. array of UNSIGNED16 etc. Sub-index 0 is of UNSIGNED8 and therefore not part of the ARRAY data
OBJ_RECORD = 0x09
A multiple data field object where the data fields may be any combination of simple variables. Sub-index 0 is of UNSIGNED8 and sub-index 255 is of UNSIGNED32 and therefore not part of the RECORD data
PredefinedType
Predefined data types.
OBJ_TYPE_BOOLEAN = 0x0001
OBJ_TYPE_INTEGER8 = 0x0002
OBJ_TYPE_INTEGER16 = 0x0003
OBJ_TYPE_INTEGER32 = 0x0004
OBJ_TYPE_UNSIGNED8 = 0x0005
OBJ_TYPE_UNSIGNED16 = 0x0006
OBJ_TYPE_UNSIGNED32 = 0x0007
OBJ_TYPE_REAL32 = 0x0008
OBJ_TYPE_VISIBLE_STRING = 0x0009
OBJ_TYPE_OCTET_STRING = 0x000A
OBJ_TYPE_UNICODE_STRING = 0x000B
OBJ_TYPE_TIME_OF_DAY = 0x000C
OBJ_TYPE_TIME_DIFFERENCE = 0x000D
OBJ_TYPE_DOMAIN = 0x000F
OBJ_TYPE_INTEGER24 = 0x0010
OBJ_TYPE_REAL64 = 0x0011
OBJ_TYPE_INTEGER40 = 0x0012
OBJ_TYPE_INTEGER48 = 0x0013
OBJ_TYPE_INTEGER56 = 0x0014
OBJ_TYPE_INTEGER64 = 0x0015
OBJ_TYPE_UNSIGNED24 = 0x0016
OBJ_TYPE_UNSIGNED40 = 0x0018
OBJ_TYPE_UNSIGNED48 = 0x0019
OBJ_TYPE_UNSIGNED56 = 0x001A
OBJ_TYPE_UNSIGNED64 = 0x001B
OBJ_TYPE_PDO_COMMUNICATION_PARAMETER = 0x0020
OBJ_TYPE_PDO_MAPPING = 0x0021
OBJ_TYPE_SDO_PARAMETER = 0x0022
OBJ_TYPE_IDENTITY = 0x0023
Constructors
Object
Object();
Creates and default-initializes an Object.
Destructor
~Object 
~Object();
Destroys the Object.
Member Functions
access
virtual Access access() const = 0;
Returns the access attribute for the object.
code
virtual ObjectCode code() const = 0;
Returns the kind of object.
read
virtual SDO::AbortCode read(
Poco::UInt8 subIndex,
std::vector < char > & data
) const;
Copies the value of the object into the given data buffer. The vector will be resized accordingly.
The buffer will then be used for a SDO upload operation.
Returns SDO::SDO_SUCCESS (0) if successful, or an abort code if an error occurs.
The default implementation returns SDO::SDO_ABORT_INVALID_ACCESS.
structure
Poco::UInt32 structure() const;
Returns the structure of the object, which in CANopen terms is the ObjectCode combined with the type. Bits 0-7 contain the ObjectCode and bits 8-23 contain the type. Bits 24-31 are reserved and should be 0.
The same value can also be obtained by reading sub-index 0xFF.
type
virtual Poco::UInt16 type() const = 0;
Returns the type of the object. The returned value is the index of the type in the object dictionary.
For predefined types, see the PredefinedType enumeration.
write
virtual SDO::AbortCode write(
Poco::UInt8 subIndex,
std::size_t size,
const char * data
);
Writes the contents of the given data buffer to the object.
The data buffer is typically the result of a SDO download or MPDO transmission.
Returns SDO::SDO_SUCCESS (0) if successful, or a SDO abort code if an error occurs.
The default implementation returns SDO::SDO_ABORT_INVALID_ACCESS.
write
virtual SDO::AbortCode write(
Poco::UInt8 subIndex,
const std::vector < char > & data
);
Writes the contents of the given data buffer to the object. The vector must not be empty.
The data buffer is typically the result of a SDO download or MPDO transmission.
Returns SDO::SDO_SUCCESS (0) if successful, or an abort code if an error occurs.
The default implementation calls write(subIndex, data.size(), &data[0]).
copy 
template < typename T > static void copy(
std::vector < char > & data,
T value
);
copy
template < typename T > static void copy(
T & value,
std::size_t size,
const char * data
);
copy
static void copy(
std::vector < char > & data,
const std::string & value
);
copy
static void copy(
std::string & value,
std::size_t size,
const char * data
);
writeImpl
template < typename T > SDO::AbortCode writeImpl(
T & value,
Poco::UInt8 subIndex,
std::size_t size,
const char * data
);
Variables
modified
Poco::BasicEvent < const Poco::UInt8 > modified;
Fired when the object has been modified by a call to write(), which usually happens as a result of a SDO download or MPDO.
The event argument is the sub-index of the modified element (1..n).
This event is only fired if the object has actually been modified.
written
Poco::BasicEvent < const Poco::UInt8 > written;