sdo

Documentation

Index

• func ByteToDataType(datatype SDODataType, data []byte) (string, bool)
• func DataTypeToByte(datatype SDODataType, data string) ([]byte, bool)
• func GetAbortCodeBytes(frame canopen.Frame) []uint8
• func GetIntBytes(inputData string, bitSize int) ([]byte, error)
• func GetUIntBytes(inputData string, bitSize int) ([]byte, error)
• func HasBit(n uint8, pos uint) bool
• func IsReversed(datatype SDODataType) bool
• func Pad(b []byte, minLength int) []byte
• func ParseDate(data []byte, date time.Time) (string, bool)
• func ParseDateString(data string, offset time.Time) ([]byte, error)
• func ParseInt(b []byte) (int64, error)
• func ParseUInt(b []byte) uint64
• func ServerResponseByte(scs ServerCommandSpecifier, toggleBit bool) byte
• func SetBit(n uint8, pos uint) uint8
• func SplitN(b []byte, n int) [][]byte
• type ClientCommandSpecifier
  • func ProcessRequestByte(clientData byte) (ClientCommandSpecifier, bool, bool, byte)
• type SDODataType
• type ServerCommandSpecifier

Functions

func ByteToDataType

func ByteToDataType(datatype SDODataType, data []byte) (string, bool)

func DataTypeToByte

func DataTypeToByte(datatype SDODataType, data string) ([]byte, bool)

func GetAbortCodeBytes

func GetAbortCodeBytes(frame canopen.Frame) []uint8

func GetIntBytes

func GetIntBytes(inputData string, bitSize int) ([]byte, error)

func GetUIntBytes

func GetUIntBytes(inputData string, bitSize int) ([]byte, error)

func HasBit

func HasBit(n uint8, pos uint) bool

func IsReversed

func IsReversed(datatype SDODataType) bool

IsReversed if the bytes are send in the reverse order (little endian)

func Pad

func Pad(b []byte, minLength int) []byte

func ParseDate

func ParseDate(data []byte, date time.Time) (string, bool)

func ParseDateString

func ParseDateString(data string, offset time.Time) ([]byte, error)

func ParseInt

func ParseInt(b []byte) (int64, error)

func ParseUInt

func ParseUInt(b []byte) uint64

func ServerResponseByte

func ServerResponseByte(scs ServerCommandSpecifier, toggleBit bool) byte

func SetBit

func SetBit(n uint8, pos uint) uint8

func SplitN

func SplitN(b []byte, n int) [][]byte

SplitN splits b into a list of n sized bytes

Types

type ClientCommandSpecifier

type ClientCommandSpecifier byte

const (
	InitiateDownloadRequest ClientCommandSpecifier = 1
	DownloadSegmentRequest  ClientCommandSpecifier = 0
	ClientBlockDownload     ClientCommandSpecifier = 6

	InitiateUploadRequest ClientCommandSpecifier = 2
	UploadSegmentRequest  ClientCommandSpecifier = 3
)

func ProcessRequestByte

func ProcessRequestByte(clientData byte) (ClientCommandSpecifier, bool, bool, byte)

type SDODataType

type SDODataType byte

const (
	DATA_TYPE_BOOLEAN                     SDODataType = 0x01
	DATA_TYPE_INTEGER_8                   SDODataType = 0x02
	DATA_TYPE_INTEGER_16                  SDODataType = 0x03
	DATA_TYPE_INTEGER_32                  SDODataType = 0x04
	DATA_TYPE_UNSIGNED_8                  SDODataType = 0x05
	DATA_TYPE_UNSIGNED_16                 SDODataType = 0x06
	DATA_TYPE_UNSIGNED_32                 SDODataType = 0x07
	DATA_TYPE_REAL_32                     SDODataType = 0x08
	DATA_TYPE_VISIBLE_STRING              SDODataType = 0x09
	DATA_TYPE_OCTET_STRING                SDODataType = 0x0A
	DATA_TYPE_UNICODE_STRING              SDODataType = 0x0B
	DATA_TYPE_TIME_OF_DAY                 SDODataType = 0x0C
	DATA_TYPE_TIME_DIFFERENCE             SDODataType = 0x0D
	DATA_TYPE_DOMAIN                      SDODataType = 0x0F
	DATA_TYPE_INTEGER_24                  SDODataType = 0x10
	DATA_TYPE_REAL_64                     SDODataType = 0x11
	DATA_TYPE_INTEGER_40                  SDODataType = 0x12
	DATA_TYPE_INTEGER_48                  SDODataType = 0x13
	DATA_TYPE_INTEGER_56                  SDODataType = 0x14
	DATA_TYPE_INTEGER_64                  SDODataType = 0x15
	DATA_TYPE_UNSIGNED_24                 SDODataType = 0x16
	DATA_TYPE_UNSIGNED_40                 SDODataType = 0x18
	DATA_TYPE_UNSIGNED_48                 SDODataType = 0x19
	DATA_TYPE_UNSIGNED_56                 SDODataType = 0x1A
	DATA_TYPE_UNSIGNED_64                 SDODataType = 0x1B
	DATA_TYPE_PDO_COMMUNICATION_PARAMETER SDODataType = 0x20
	DATA_TYPE_PDO_MAPPING                 SDODataType = 0x21
	DATA_TYPE_SDO_PARAMETER               SDODataType = 0x22
	DATA_TYPE_IDENTITY                    SDODataType = 0x23
)

SDOOBJECT_TYPE_BOOLEAN

type ServerCommandSpecifier

type ServerCommandSpecifier byte

const (
	InitiateDownloadResponse ServerCommandSpecifier = 3
	DownloadSegmentResponse  ServerCommandSpecifier = 1
	ServerBlockDownload      ServerCommandSpecifier = 5

	InitiateUploadResponse ServerCommandSpecifier = 2
	UploadSegmentResponse  ServerCommandSpecifier = 0

	AbortTransfer ServerCommandSpecifier = 4
)