CANRequest Class Reference

A CAN Request contains a send CAN message and an (expected) answer CAN message. More...

#include <CANRequest.hpp>

Inheritance diagram for CANRequest:

List of all members.

Public Types
enum	NodeStatus {   PowerOff, Initialisation, PreOperational, Stopped,   Operational }
	The CANOpen State Diagram of a Device.
Public Member Functions
	CANRequest (CANMessage *_write, CANMessage *_expect, Seconds _timeout=0)
	Write a message to the bus and expect a repsonse with a given CobId and possibly data.
bool	sendTo (CANBusInterface *_bus)
	Sends the request to a bus and listens for the answer containing the expected cobId.
void	process (const CANMessage *msg)
	This method instructs the CANDeviceInterface instance to process a certain CANMessage.
unsigned int	nodeId () const
	Returns the node ID of this device.
void	abort ()
	Abort the reception of an answer.
bool	isReceived () const
	Returns true if a message with the expected CobId was received.
bool	isExpired () const
	Returns true if the timeout expired.
bool	isExactMatch () const
	Returns true if a message was received with an exact match of the expected CANMessage.
bool	matchDataByte (unsigned int pos) const
	Returns true if databyte pos matches the expected value.
bool	matchDataByte (unsigned int start, unsigned int end) const
	Returns true if databytes start to end matches the expected value.
CANMessage *	getReceivedMessage ()
	Returns the received message.
Public Attributes
NodeStatus	status
	The state of this device.
Protected Attributes
CANBusInterface *	bus
CANMessage *	write
CANMessage *	expected
CANMessage *	result
CANMessage	result_cache
TimeService::ticks	timestamp
Seconds	timeout

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Detailed Description

A CAN Request contains a send CAN message and an (expected) answer CAN message.

It acts like a CANDeviceInterface on the virtual CANBusInterface and sends a request on it. It then listens until it receives a message with the same Cob Id.

Definition at line 52 of file CANRequest.hpp.

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Member Function Documentation

bool isExactMatch

(

)

const [inline]

Returns true if a message was received with an exact match of the expected CANMessage.

An Exact match is when the CobId, DLC and data are equal to the expected values.

Definition at line 141 of file CANRequest.hpp.

bool matchDataByte	(	unsigned int	start,
		unsigned int	end
	)			const [inline]

Returns true if databytes start to end matches the expected value.

start and end should be numbers from 0 to 7, denoting the byte positions.

Definition at line 164 of file CANRequest.hpp.

References CANMessage::getData().

void process

(

const CANMessage *

msg

)

[inline, virtual]

This method instructs the CANDeviceInterface instance to process a certain CANMessage.

You are not the owner of msg.

Parameters:

msg

The message to be processed by this instance.

Invariant:

Only this may be removed from the CANBusInterface during process.

Implements CANListenerInterface.

Definition at line 81 of file CANRequest.hpp.

References CANRequest::abort(), CANMessage::getExtId(), CANMessage::getStdId(), CANRequest::isExpired(), CANMessage::isExtended(), and CANMessage::isStandard().

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

• CANRequest.hpp