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TODO_slave.md

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Ideas for a CanOpen slave library

  • Where? Fits best in master library (rename to node e.g.), because it shares many things like dictionary and eds_reader, and master could inherit from the slave class (-> inlining).

  • Core::received_message:

    • implement two missing cases in receive loop (simple delegation to sdo/pdo class)

  • PDO class:

    • Not much to do here. Just provide callbacks for RPDOs. These will be registered by Slave class.
    • Rename process_incoming_message() to process_incoming_tpdo() and add process_incoming_rpdo()
    • Rename add_pdo_received_callback() to add_tpdo_received_callback() and add add_rpdo_received_callback()

  • SDO class:

    • Just like in PDO class, we need to implement client SDOs.
    • Slave class listens for requests and (add_request_callback()) and can react using send_response()
    • add add_client_sdo_callback(SDOReceivedCallback) (callback signature void(const SDOResponse&)) and/or add_request_callback(node_id, SDORequestCallback) (listening only for SDOs with slave's own node_id, callback signature void(index, subindex))
    • add send_response(node_id, index, subindex, vector<uint8_t> data) (chooses segmented/expedited transfer on it's own)
    • add abort_transfer(node_id, index, subindex, errorcode)

  • Slave class:

    • has a node_id! (never used this until now...)
    • m_dictionary of type map<name, Entry>
    • m_index_to_name of type map<index,subindex,name>
    • add_entry(Entry)
    • read_dictionary_from_eds(filename) -> store default values
    • set_value(name,value) -> user should call this for all entries without default value
    • get_value(name) (internal use)
    • register sdo_request_callback -> get name from index, do get_value() and send result using core.sdo.send_response(node_id, index, subindex, value.get_bytes())
    • add_pdo_mapping(cob_id, name) -> core.pdo.add_rpdo_received_callback() with this cob_id -> set_value()...

  • Master class:

    • inherit from slave
    • add at least mandatory entries using add_entry() in constructor

  • EDSReader class:

    • handle default values but only if used by Slave class, otherwise dictionary could contain outdated values.