Class TmcCoeInterpreter

• Defined in File tmc_coe_interpreter.hpp

Class Documentation

class TmcCoeInterpreter

Public Functions

TmcCoeInterpreter(uint8_t SDO_PDO_retries, double interface_timeout, std::string logger_prefix)

~TmcCoeInterpreter()

uint8_t initInterface(std::string ifname)

bool initDictionary(uint8_t slave_number, std::vector<std::string> all_obj_name, std::vector<std::string> all_index, std::vector<std::string> all_sub_index, std::vector<std::string> all_datatype)

bool safeOperationalState(uint8_t slave_number)

bool operationalState(uint8_t slave_number, bool b_init)

std::string getSlaveName(uint8_t slave_number)

nmt_state_t changeNMTState(uint8_t slave_number, nmt_state_t state)

fsa_state_t changeCiA402State(uint8_t slave_number, fsa_state_t state)

bool isStatusWordState(uint8_t slave_number, fsa_state_t state)

fsa_state_t checkStatusWordState(uint8_t slave_number)

int8_t setControlWord(uint8_t slave_number, fsa_state_t response_SW, control_word_val_t requested_CW)

void stopInterface()

uint8_t getCycleCounter()

void startCycleCounter()

void stopCycleCounter()

bool isCycleFinished()

void createProcessDataThread()

void createErrorCheckThread()

bool readSDO(uint8_t slave_number, std::string object_name, std::string *value)

bool writeSDO(uint8_t slave_number, std::string object_name, std::string *value)

Public Members

std::vector<input_pdo_t*> input_pdo_

std::vector<output_pdo_t*> output_pdo_