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.gitignore
.gitignore
 
 
.golangci.yml
.golangci.yml
 
 
README.md
README.md
 
 
REAMDE.md
REAMDE.md
 
 
canopen.go
canopen.go
 
 
dic_array.go
dic_array.go
 
 
dic_eds_parser.go
dic_eds_parser.go
 
 
dic_eds_parser_test.go
dic_eds_parser_test.go
 
 
dic_object.go
dic_object.go
 
 
dic_object_dic.go
dic_object_dic.go
 
 
dic_parser.go
dic_parser.go
 
 
dic_record.go
dic_record.go
 
 
dic_types.go
dic_types.go
 
 
dic_variable.go
dic_variable.go
 
 
go.mod
go.mod
 
 
go.sum
go.sum
 
 
network.go
network.go
 
 
network_frames_chan.go
network_frames_chan.go
 
 
network_test.go
network_test.go
 
 
nmt_master.go
nmt_master.go
 
 
node.go
node.go
 
 
pdo_map.go
pdo_map.go
 
 
pdo_maps.go
pdo_maps.go
 
 
pdo_node.go
pdo_node.go
 
 
sdo.go
sdo.go
 
 
sdo_reader.go
sdo_reader.go
 
 
sdo_writer.go
sdo_writer.go
 
 

Repository files navigation

go-canopen

Implement canopen protocol with https://github.com/angelodlfrtr/go-can

Port of https://github.com/christiansandberg/canopen written in Python

Installation

go get github.com/angelodlfrtr/go-canopen

Basic usage

package main

import (
  "github.com/angelodlfrtr/go-can"
  "github.com/angelodlfrtr/go-canopen"
  "github.com/angelodlfrtr/go-can/transports"
  "log"
)

func main() {
}

License

Copyright (c) 2019 The go-canopen contributors

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

canopen

import "github.com/angelodlfrtr/go-canopen"

Package canopen implement canopen protocol over github.com/angelodlfrtr/go-can

Index

Constants

const (
    DicVar byte = 0x07
    DicArr byte = 0x08
    DicRec byte = 0x09
)
const (
    Boolean    byte = 0x1
    Integer8   byte = 0x2
    Integer16  byte = 0x3
    Integer32  byte = 0x4
    Integer64  byte = 0x15
    Unsigned8  byte = 0x5
    Unsigned16 byte = 0x6
    Unsigned32 byte = 0x7
    Unsigned64 byte = 0x1b

    Real32 byte = 0x8
    Real64 byte = 0x11

    VisibleString byte = 0x9
    OctetString   byte = 0xa
    UnicodeString byte = 0xb
    Domain        byte = 0xf
)
const (
    MapPDONotValid   int64 = 1 << 31
    MapRTRNotAllowed int   = 1 << 30
)
const (
    SDORequestUpload    uint8 = 2 << 5
    SDOResponseUpload   uint8 = 2 << 5
    SDORequestDownload  uint8 = 1 << 5
    SDOResponseDownload uint8 = 3 << 5

    SDORequestSegmentUpload    uint8 = 3 << 5
    SDOResponseSegmentUpload   uint8 = 0 << 5
    SDORequestSegmentDownload  uint8 = 0 << 5
    SDOResponseSegmentDownload uint8 = 1 << 5

    SDOExpedited     uint8 = 0x2
    SDOSizeSpecified uint8 = 0x1
    SDOToggleBit     uint8 = 0x10
    SDONoMoreData    uint8 = 0x1
)

Variables

var NMTCommandToState = map[int]int{
    1:   5,
    2:   4,
    80:  80,
    96:  96,
    128: 127,
    129: 0,
    130: 0,
}
var NMTCommands = map[string]int{
    "OPERATIONAL":         1,
    "STOPPED":             2,
    "SLEEP":               80,
    "STANDBY":             96,
    "PRE-OPERATIONAL":     128,
    "INITIALISING":        129,
    "RESET":               129,
    "RESET COMMUNICATION": 130,
}
var NMTStates = map[int]string{
    0:   "INITIALISING",
    4:   "STOPPED",
    5:   "OPERATIONAL",
    80:  "SLEEP",
    96:  "STANDBY",
    127: "PRE-OPERATIONAL",
}

func IsDataType

func IsDataType(t byte) bool

func IsFloatType

func IsFloatType(t byte) bool

func IsIntegerType

func IsIntegerType(t byte) bool

func IsNumberType

func IsNumberType(t byte) bool

func IsSignedType

func IsSignedType(t byte) bool

func IsStringType

func IsStringType(t byte) bool

func IsUnsignedType

func IsUnsignedType(t byte) bool

type DicArray

type DicArray struct {
    Description string
    Index       uint16
    Name        string

    SDOClient *SDOClient

    SubIndexes map[uint8]DicObject
    SubNames   map[string]uint8
}

func (*DicArray) AddMember

func (array *DicArray) AddMember(object DicObject)

AddMember to SubIndexes

func (*DicArray) FindIndex

func (array *DicArray) FindIndex(index uint16) DicObject

func (*DicArray) FindName

func (array *DicArray) FindName(name string) DicObject

func (*DicArray) GetBoolVal

func (array *DicArray) GetBoolVal() *bool

func (*DicArray) GetByteVal

func (array *DicArray) GetByteVal() *byte

func (*DicArray) GetData

func (array *DicArray) GetData() []byte

func (*DicArray) GetDataLen

func (array *DicArray) GetDataLen() int

func (*DicArray) GetDataType

func (array *DicArray) GetDataType() byte

func (*DicArray) GetFloatVal

func (array *DicArray) GetFloatVal() *float64

func (*DicArray) GetIndex

func (array *DicArray) GetIndex() uint16

func (*DicArray) GetIntVal

func (array *DicArray) GetIntVal() *int64

func (*DicArray) GetName

func (array *DicArray) GetName() string

func (*DicArray) GetOffset

func (array *DicArray) GetOffset() int

func (*DicArray) GetStringVal

func (array *DicArray) GetStringVal() *string

func (*DicArray) GetSubIndex

func (array *DicArray) GetSubIndex() uint8

func (*DicArray) GetUintVal

func (array *DicArray) GetUintVal() *uint64

func (*DicArray) IsDicVariable

func (array *DicArray) IsDicVariable() bool

func (*DicArray) Read

func (array *DicArray) Read() error

func (*DicArray) Save

func (array *DicArray) Save() error

func (*DicArray) SetBoolVal

func (array *DicArray) SetBoolVal(a bool)

func (*DicArray) SetByteVal

func (array *DicArray) SetByteVal(a byte)

func (*DicArray) SetData

func (array *DicArray) SetData(data []byte)

func (*DicArray) SetFloatVal

func (array *DicArray) SetFloatVal(a float64)

func (*DicArray) SetIntVal

func (array *DicArray) SetIntVal(a int64)

func (*DicArray) SetOffset

func (array *DicArray) SetOffset(s int)

func (*DicArray) SetSDO

func (array *DicArray) SetSDO(sdo *SDOClient)

func (*DicArray) SetSize

func (array *DicArray) SetSize(s int)

func (*DicArray) SetStringVal

func (array *DicArray) SetStringVal(a string)

func (*DicArray) SetUintVal

func (array *DicArray) SetUintVal(a uint64)

type DicObject

type DicObject interface {
    GetIndex() uint16
    GetSubIndex() uint8
    GetName() string
    AddMember(DicObject)
    FindIndex(uint16) DicObject
    FindName(string) DicObject

    GetDataType() byte
    GetDataLen() int

    SetSize(int)
    SetOffset(int)
    GetOffset() int

    Read() error
    Save() error

    GetData() []byte
    SetData([]byte)

    GetStringVal() *string
    GetFloatVal() *float64
    GetUintVal() *uint64
    GetIntVal() *int64
    GetBoolVal() *bool
    GetByteVal() *byte

    SetStringVal(string)
    SetFloatVal(float64)
    SetUintVal(uint64)
    SetIntVal(int64)
    SetBoolVal(bool)
    SetByteVal(byte)

    IsDicVariable() bool
    SetSDO(*SDOClient)
}

type DicObjectDic

type DicObjectDic struct {
    Baudrate int
    NodeID   int

    // Map of Object ids to objects
    Indexes map[uint16]DicObject

    // Index to map objects names to objects indexs
    NamesIndex map[string]uint16
}

func DicEDSParse

func DicEDSParse(in interface{}) (*DicObjectDic, error)

DicEDSParse If in is string, it must be a path to a file else if in must be eds data as []byte

func DicMustParse

func DicMustParse(a *DicObjectDic, err error) *DicObjectDic

func NewDicObjectDic

func NewDicObjectDic() *DicObjectDic

func (*DicObjectDic) AddObject

func (objectDic *DicObjectDic) AddObject(object DicObject)

func (*DicObjectDic) FindIndex

func (objectDic *DicObjectDic) FindIndex(index uint16) DicObject

func (*DicObjectDic) FindName

func (objectDic *DicObjectDic) FindName(name string) DicObject

type DicRecord

type DicRecord struct {
    Description string
    Index       uint16
    Name        string

    SDOClient *SDOClient

    SubIndexes map[uint8]DicObject
    SubNames   map[string]uint8
}

func (*DicRecord) AddMember

func (record *DicRecord) AddMember(object DicObject)

AddMember to DicRecord

func (*DicRecord) FindIndex

func (record *DicRecord) FindIndex(index uint16) DicObject

FindIndex find by index a DicObject in DicRecord

func (*DicRecord) FindName

func (record *DicRecord) FindName(name string) DicObject

FindName find by name a DicObject in DicRecord

func (*DicRecord) GetBoolVal

func (record *DicRecord) GetBoolVal() *bool

func (*DicRecord) GetByteVal

func (record *DicRecord) GetByteVal() *byte

func (*DicRecord) GetData

func (record *DicRecord) GetData() []byte

func (*DicRecord) GetDataLen

func (record *DicRecord) GetDataLen() int

func (*DicRecord) GetDataType

func (record *DicRecord) GetDataType() byte

func (*DicRecord) GetFloatVal

func (record *DicRecord) GetFloatVal() *float64

func (*DicRecord) GetIndex

func (record *DicRecord) GetIndex() uint16

GetIndex of DicRecord

func (*DicRecord) GetIntVal

func (record *DicRecord) GetIntVal() *int64

func (*DicRecord) GetName

func (record *DicRecord) GetName() string

GetName of DicRecord

func (*DicRecord) GetOffset

func (record *DicRecord) GetOffset() int

func (*DicRecord) GetStringVal

func (record *DicRecord) GetStringVal() *string

func (*DicRecord) GetSubIndex

func (record *DicRecord) GetSubIndex() uint8

GetSubIndex not applicable

func (*DicRecord) GetUintVal

func (record *DicRecord) GetUintVal() *uint64

func (*DicRecord) IsDicVariable

func (record *DicRecord) IsDicVariable() bool

func (*DicRecord) Read

func (record *DicRecord) Read() error

func (*DicRecord) Save

func (record *DicRecord) Save() error

func (*DicRecord) SetBoolVal

func (record *DicRecord) SetBoolVal(a bool)

func (*DicRecord) SetByteVal

func (record *DicRecord) SetByteVal(a byte)

func (*DicRecord) SetData

func (record *DicRecord) SetData(data []byte)

func (*DicRecord) SetFloatVal

func (record *DicRecord) SetFloatVal(a float64)

func (*DicRecord) SetIntVal

func (record *DicRecord) SetIntVal(a int64)

func (*DicRecord) SetOffset

func (record *DicRecord) SetOffset(s int)

func (*DicRecord) SetSDO

func (record *DicRecord) SetSDO(sdo *SDOClient)

SetSDO to DicRecord

func (*DicRecord) SetSize

func (record *DicRecord) SetSize(s int)

func (*DicRecord) SetStringVal

func (record *DicRecord) SetStringVal(a string)

func (*DicRecord) SetUintVal

func (record *DicRecord) SetUintVal(a uint64)

type DicVariable

type DicVariable struct {
    Unit        string
    Factor      int
    Min         int
    Max         int
    Default     []byte
    DataType    byte
    AccessType  string
    Description string

    SDOClient *SDOClient

    Data   []byte
    Offset int
    Size   int

    Index    uint16
    SubIndex uint8
    Name     string

    ValueDescriptions map[string]string
    BitDefinitions    map[string][]byte
}

func (*DicVariable) AddBitDefinition

func (variable *DicVariable) AddBitDefinition(name string, bits []byte)

func (*DicVariable) AddMember

func (variable *DicVariable) AddMember(object DicObject)

func (*DicVariable) AddValueDescription

func (variable *DicVariable) AddValueDescription(name string, des string)

func (*DicVariable) FindIndex

func (variable *DicVariable) FindIndex(index uint16) DicObject

func (*DicVariable) FindName

func (variable *DicVariable) FindName(name string) DicObject

func (*DicVariable) GetBoolVal

func (variable *DicVariable) GetBoolVal() *bool

func (*DicVariable) GetByteVal

func (variable *DicVariable) GetByteVal() *byte

func (*DicVariable) GetData

func (variable *DicVariable) GetData() []byte

func (*DicVariable) GetDataLen

func (variable *DicVariable) GetDataLen() int

func (*DicVariable) GetDataType

func (variable *DicVariable) GetDataType() byte

func (*DicVariable) GetFloatVal

func (variable *DicVariable) GetFloatVal() *float64

func (*DicVariable) GetIndex

func (variable *DicVariable) GetIndex() uint16

func (*DicVariable) GetIntVal

func (variable *DicVariable) GetIntVal() *int64

func (*DicVariable) GetName

func (variable *DicVariable) GetName() string

func (*DicVariable) GetOffset

func (variable *DicVariable) GetOffset() int

func (*DicVariable) GetStringVal

func (variable *DicVariable) GetStringVal() *string

func (*DicVariable) GetSubIndex

func (variable *DicVariable) GetSubIndex() uint8

func (*DicVariable) GetUintVal

func (variable *DicVariable) GetUintVal() *uint64

func (*DicVariable) IsDicVariable

func (variable *DicVariable) IsDicVariable() bool

func (*DicVariable) IsDomainDataType

func (variable *DicVariable) IsDomainDataType() bool

func (*DicVariable) Read

func (variable *DicVariable) Read() error

Read variable value using SDO

func (*DicVariable) Save

func (variable *DicVariable) Save() error

Save variable.Data using SDO

func (*DicVariable) SetBoolVal

func (variable *DicVariable) SetBoolVal(a bool)

func (*DicVariable) SetByteVal

func (variable *DicVariable) SetByteVal(a byte)

func (*DicVariable) SetData

func (variable *DicVariable) SetData(data []byte)

func (*DicVariable) SetFloatVal

func (variable *DicVariable) SetFloatVal(a float64)

func (*DicVariable) SetIntVal

func (variable *DicVariable) SetIntVal(a int64)

func (*DicVariable) SetOffset

func (variable *DicVariable) SetOffset(s int)

func (*DicVariable) SetSDO

func (variable *DicVariable) SetSDO(sdo *SDOClient)

func (*DicVariable) SetSize

func (variable *DicVariable) SetSize(s int)

func (*DicVariable) SetStringVal

func (variable *DicVariable) SetStringVal(a string)

func (*DicVariable) SetUintVal

func (variable *DicVariable) SetUintVal(a uint64)

func (*DicVariable) Write

func (variable *DicVariable) Write(data []byte) error

Write variable value using SDO

type NMTMaster

type NMTMaster struct {
    NodeID        int
    Network       *Network
    State         int
    StateReceived *int
    Timestamp     *time.Time
    Listening     bool
    // contains filtered or unexported fields
}

func NewNMTMaster

func NewNMTMaster(nodeID int, network *Network) *NMTMaster

NewNMTMaster return a new instance of Master

func (*NMTMaster) GetStateString

func (master *NMTMaster) GetStateString() string

GetStateString for target node

func (*NMTMaster) ListenForHeartbeat

func (master *NMTMaster) ListenForHeartbeat() error

ListenForHeartbeat listen message on network

func (*NMTMaster) SendCommand

func (master *NMTMaster) SendCommand(code int) error

SendCommand to target node

func (*NMTMaster) SetState

func (master *NMTMaster) SetState(cmd string) error

SetState for target node, and send command

func (*NMTMaster) UnlistenForHeartbeat

func (master *NMTMaster) UnlistenForHeartbeat() error

UnlistenForHeartbeat listen message on network

func (*NMTMaster) WaitForBootup

func (master *NMTMaster) WaitForBootup(timeout *time.Duration) error

WaitForBootup return when the node has *StateReceived == 0 with a default timeout of 10s

type Network

Network represent the global nodes network

type Network struct {
    // mutex for FramesChans access
    sync.Mutex

    // Bus is the go-can bus
    Bus can.Bus

    // Nodes contain the network nodes
    Nodes map[int]*Node

    // FramesChans contains a list of chan when is sent each frames from network bus.
    FramesChans []*NetworkFramesChan

    // NMTMaster contain nmt control struct
    NMTMaster *NMTMaster

    // BusReadErrChan @TODO on go-can
    BusReadErrChan chan error
    // contains filtered or unexported fields
}

func NewNetwork

func NewNetwork(bus can.Bus) (*Network, error)

NewNetwork a new Network with given bus

func (*Network) AcquireFramesChan

func (network *Network) AcquireFramesChan(filterFunc networkFramesChanFilterFunc) *NetworkFramesChan

AcquireFramesChan create a new FrameChan

func (*Network) AddNode

func (network *Network) AddNode(node *Node, objectDic *DicObjectDic, uploadEDS bool) *Node

AddNode add a node to the network

func (*Network) GetNode

func (network *Network) GetNode(nodeID int) (*Node, error)

GetNode by node id. Return error if node dont exist in network.Nodes

func (*Network) ReleaseFramesChan

func (network *Network) ReleaseFramesChan(id string)

ReleaseFramesChan release (close) a FrameChan

func (*Network) Run

func (network *Network) Run() error

Run listen handlers for frames on bus

func (*Network) Search

func (network *Network) Search(limit int, timeout time.Duration) ([]*Node, error)

Search send data to network and wait for nodes response

func (*Network) Send

func (network *Network) Send(arbID uint32, data []byte) error

Send a frame on network

func (*Network) Stop

func (network *Network) Stop() error

Stop handlers for frames on bus

type NetworkFramesChan

NetworkFramesChan contain a Chan, and ID and a Filter function Each FrameChan can have a filter function which return a boolean, and for each frame, the filter func is called. If func return true, the frame is returned, else dont send frame.

type NetworkFramesChan struct {
    ID     string
    C      chan *can.Frame
    Filter networkFramesChanFilterFunc
}

func (*NetworkFramesChan) Publish

func (networkFramesCh *NetworkFramesChan) Publish(frm *can.Frame)

type Node

Node is a canopen node

type Node struct {
    // Each node has an id, which is ArbitrationID & 0x7F
    ID  int

    Network   *Network
    ObjectDic *DicObjectDic

    SDOClient *SDOClient
    PDONode   *PDONode
    NMTMaster *NMTMaster
}

func NewNode

func NewNode(id int, network *Network, objectDic *DicObjectDic) *Node

func (*Node) Init

func (node *Node) Init()

Init create sdo clients, pdo nodes, nmt master

func (*Node) SetNetwork

func (node *Node) SetNetwork(network *Network)

SetNetwork set node.Network to the desired network

func (*Node) SetObjectDic

func (node *Node) SetObjectDic(objectDic *DicObjectDic)

SetObjectDic set node.ObjectDic to the desired ObjectDic

func (*Node) Stop

func (node *Node) Stop()

Stop node

type PDOMap

type PDOMap struct {
    sync.Mutex

    PDONode   *PDONode
    ComRecord DicObject
    MapArray  DicObject

    Enabled    bool
    CobID      int
    RTRAllowed bool
    TransType  byte
    EventTimer byte

    Map map[int]DicObject

    OldData []byte
    Data    []byte

    Timestamp *time.Time
    Period    *time.Duration

    IsReceived bool

    ChangeChans []*PDOMapChangeChan
    // contains filtered or unexported fields
}

func NewPDOMap

func NewPDOMap(pdoNode *PDONode, comRecord, mapArray DicObject) *PDOMap

NewPDOMap return a PDOMap initialized

func (*PDOMap) AcquireChangesChan

func (m *PDOMap) AcquireChangesChan() *PDOMapChangeChan

AcquireChangesChan create a new PDOMapChangeChan

func (*PDOMap) FindIndex

func (m *PDOMap) FindIndex(idx int) DicObject

FindIndex find a object by index

func (*PDOMap) FindName

func (m *PDOMap) FindName(name string) DicObject

FindName find a object by name

func (*PDOMap) GetTotalSize

func (m *PDOMap) GetTotalSize() int

GetTotalSize of a map

func (*PDOMap) Listen

func (m *PDOMap) Listen() error

Listen for changes on map from network

func (*PDOMap) Read

func (m *PDOMap) Read() error

Read map values

func (*PDOMap) RebuildData

func (m *PDOMap) RebuildData()

RebuildData rebuild map data object from map variables

func (*PDOMap) ReleaseChangesChan

func (m *PDOMap) ReleaseChangesChan(id string) error

ReleaseChangesChan release (close) a PDOMapChangeChan

func (*PDOMap) Save

func (m *PDOMap) Save() error

Save pdo map @TODO: Not Working, DO NOT USE

func (*PDOMap) SetData

func (m *PDOMap) SetData(data []byte)

func (*PDOMap) Transmit

func (m *PDOMap) Transmit(rebuild bool) error

Transmit map data

func (*PDOMap) Unlisten

func (m *PDOMap) Unlisten()

Unlisten for changes on map from network

func (*PDOMap) UpdateDataSize

func (m *PDOMap) UpdateDataSize()

type PDOMapChangeChan

type PDOMapChangeChan struct {
    ID  string
    C   chan []byte
}

type PDOMaps

PDOMaps define a PDO map

type PDOMaps struct {
    PDONode *PDONode
    Maps    map[int]*PDOMap
}

func NewPDOMaps

func NewPDOMaps(comOffset, mapOffset int, pdoNode *PDONode) *PDOMaps

NewPDOMaps create a new Maps

func (*PDOMaps) FindIndex

func (maps *PDOMaps) FindIndex(idx int) *PDOMap

FindIndex a map by index

func (*PDOMaps) FindName

func (maps *PDOMaps) FindName(name string) *PDOMap

FindName a map

type PDONode

type PDONode struct {
    Node *Node
    RX   *PDOMaps
    TX   *PDOMaps
}

func NewPDONode

func NewPDONode(n *Node) *PDONode

func (*PDONode) FindName

func (node *PDONode) FindName(name string) *PDOMap

func (*PDONode) Read

func (node *PDONode) Read() error

func (*PDONode) Save

func (node *PDONode) Save() error

type SDOClient

SDOClient represent an SDO client

type SDOClient struct {
    Node      *Node
    RXCobID   uint32
    TXCobID   uint32
    SendQueue []string
}

func NewSDOClient

func NewSDOClient(node *Node) *SDOClient

func (*SDOClient) FindName

func (sdoClient *SDOClient) FindName(name string) DicObject

FindName find an sdo object from object dictionary by name

func (*SDOClient) Read

func (sdoClient *SDOClient) Read(index uint16, subIndex uint8) ([]byte, error)

Read sdo

func (*SDOClient) Send

func (sdoClient *SDOClient) Send(
    req []byte,
    expectFunc networkFramesChanFilterFunc,
    timeout *time.Duration,
    retryCount *int,
) (*can.Frame, error)

Send message and optionaly wait for response

func (*SDOClient) SendRequest

func (sdoClient *SDOClient) SendRequest(req []byte) error

SendRequest to network bus

func (*SDOClient) Write

func (sdoClient *SDOClient) Write(index uint16, subIndex uint8, forceSegment bool, data []byte) error

Write sdo

type SDOReader

type SDOReader struct {
    SDOClient *SDOClient
    Index     uint16
    SubIndex  uint8
    Toggle    uint8
    Pos       int
    Size      uint32
    Data      []byte
}

func NewSDOReader

func NewSDOReader(sdoClient *SDOClient, index uint16, subIndex uint8) *SDOReader

func (*SDOReader) Read

func (reader *SDOReader) Read() (*can.Frame, error)

Read segmented uploads

func (*SDOReader) ReadAll

func (reader *SDOReader) ReadAll() ([]byte, error)

ReadAll ..

func (*SDOReader) RequestUpload

func (reader *SDOReader) RequestUpload() ([]byte, error)

RequestUpload returns data if EXPEDITED, else nil

type SDOWriter

type SDOWriter struct {
    SDOClient    *SDOClient
    Index        uint16
    SubIndex     uint8
    Done         bool
    Toggle       uint8
    Pos          int
    Size         uint32
    ForceSegment bool
}

func NewSDOWriter

func NewSDOWriter(sdoClient *SDOClient, index uint16, subIndex uint8, forceSegment bool) *SDOWriter

func (*SDOWriter) RequestDownload

func (writer *SDOWriter) RequestDownload(data []byte) error

RequestDownload returns data if EXPEDITED, else nil

func (*SDOWriter) Write

func (writer *SDOWriter) Write(data []byte) error

Write data to sdo client

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Implement canopen protocol in golang

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