soem_od_entry.h

Go to the documentation of this file.

#pragma once
 
#include <nlohmann/json.hpp>
 
#include "virtual_parameter.h"
 
class SoemOdEntry : public VirtualParameter {
 public:
  friend class Soem;
  friend class Soes;
  friend class SoemMaster;
  friend class SoemSlave;
  friend class ParameterValueRefresher;
 
  friend void to_json(nlohmann::json& j, const SoemOdEntry& e);
  friend void from_json(const nlohmann::json& j, SoemOdEntry& e);
 
  Type get_parameter_type() override;
  uint16_t get_index() override;
  uint8_t get_subindex() override;
  bool is_pdo_mapped() override;
  bool set_pdo_mapping(PdoMapping pdo_mapping);
  uint64_t get_raw_value() override;
  uint64_t get_raw_value(bool force_refresh) override;
  int32_t get_int_value() override;
  int32_t get_int_value(bool force_refresh) override;
  float get_float_value() override;
  float get_float_value(bool force_refresh) override;
  std::string get_string_value() override;
  std::string get_string_value(bool force_refresh) override;
  bool get_value_status() override;
  int32_t set_raw_value(uint64_t value) override;
  int32_t set_value(int32_t value) override;
  int32_t set_value(float value) override;
  int32_t set_value(const std::string& value) override;
  ValueType get_value_type() override;
  std::string get_name() override;
  std::string get_parent_name() override;
  bool is_read() override;
  bool is_write() override;
  std::string get_unit() override;
  int32_t get_min() override;
  int32_t get_max() override;
  bool is_value_fresh() override;
 
 private:
  uint16_t absolute_slave_position_;
 
  uint16_t index_;
  uint8_t subindex_;
 
  uint8_t value_[128];
 
  int32_t bit_length_;
  uint8_t object_type_;  // define(s) in co_dictionary.h
  uint16_t entry_type_;  // defined in ethercattype.h - ec_datatype
  std::string name_;
  std::string parent_name_;
  uint16_t access_;
  std::string unit_;
  int32_t min_value_ = INT32_MIN;
  int32_t max_value_ = INT32_MAX;
 
  std::atomic<uint64_t> pdo_value_ = 0;
  std::atomic_bool value_status_ = false;
  std::atomic_bool value_initially_refreshed_ = false;
 
  PdoMapping pdo_mapping_ = PdoMapping::kNotPdoMapped;
 
  int32_t refresh_value();
  int32_t set_value_sdo(uint64_t value);
  int32_t set_value_sdo(float value);
  int32_t set_value_sdo(const std::string& value);
};