org.lsst.ccs.drivers.canopen
Interface ICanOpenDevice

All Known Implementing Classes:

CanOpenDevice

public interface ICanOpenDevice

Method Summary

void	buildPDO() A CanOpen device may support transmission or receipt of Process Date Objects, PDO
NMTState	getNmtState()
void	init()
void	initFromEDS(String edsFile)
void	onEmergencyMessage()
void	onTimeStampMessage()
void	readFromCanBus()
void	receivePDO()
SDORequest	receiveSDORequestFromClient(int nodeID)
SDOResponse	receiveSDOResponseFromServer(int nodeID)
void	sendBootMessage()
void	sendEmergencyMessage()
void	sendHeartBeatMessage()
void	sendSDORequestToServerOD(int nodeID, SDORequest request) A CanOpen device must implement a Service Data Objects, SDO
void	sendSDOResponseToClient(int nodeID, SDOResponse response)
void	sendSyncMessage() A can Open Device may support some special functions
void	sendTimeStampMessage()
void	setNmtState(NMTState nmtState)
void	transmitPDO()
void	writeOnCanBus(CanOpenMessage message)

Method Detail

init

void init()

initFromEDS

void initFromEDS(String edsFile)

getNmtState

NMTState getNmtState()

setNmtState

void setNmtState(NMTState nmtState)

readFromCanBus

void readFromCanBus()

writeOnCanBus

void writeOnCanBus(CanOpenMessage message)

sendHeartBeatMessage

void sendHeartBeatMessage()

sendBootMessage

void sendBootMessage()

sendSDORequestToServerOD

void sendSDORequestToServerOD(int nodeID,
                              SDORequest request)

A CanOpen device must implement a Service Data Objects, SDO

Parameters:

nodeID -

request -

receiveSDOResponseFromServer

SDOResponse receiveSDOResponseFromServer(int nodeID)

receiveSDORequestFromClient

SDORequest receiveSDORequestFromClient(int nodeID)

sendSDOResponseToClient

void sendSDOResponseToClient(int nodeID,
                             SDOResponse response)

buildPDO

void buildPDO()

A CanOpen device may support transmission or receipt of Process Date Objects, PDO

transmitPDO

void transmitPDO()

receivePDO

void receivePDO()

sendSyncMessage

void sendSyncMessage()

A can Open Device may support some special functions

sendEmergencyMessage

void sendEmergencyMessage()

onEmergencyMessage

void onEmergencyMessage()

sendTimeStampMessage

void sendTimeStampMessage()

onTimeStampMessage

void onTimeStampMessage()