void ConnectionDrive::SendSdoRequest ( uint8_t  node, uint8_t  req, uint16_t  idx, uint8_t  subidx, uint32_t  val = 0  )

inlineprivate

Definition at line 1239 of file drivectrl.cc.

References HandleTimeout().

    {
        if (fVerbosity>1)
            Out() << "SDO-" << (req==kTxSdo?"REQ":"SET") << "[" << int(node) << "] " << idx << "/" << int(subidx) << " = " << val << endl;


        SendCanFrame(0x600|(node&0x1f), req, idx&0xff, idx>>8, subidx,
                     val&0xff, (val>>8)&0xff, (val>>16)&0xff, (val>>24)&0xff);

        // - The boost::asio::basic_deadline_timer::expires_from_now()
        //   function cancels any pending asynchronous waits, and returns
        //   the number of asynchronous waits that were cancelled. If it
        //   returns 0 then you were too late and the wait handler has
        //   already been executed, or will soon be executed. If it
        //   returns 1 then the wait handler was successfully cancelled.
        // - If a wait handler is cancelled, the bs::error_code passed to
        //   it contains the value bs::error::operation_aborted.

        const uint32_t milliseconds = 3000;
        fTimeouts.emplace_front(get_io_service(), node, req, idx, subidx, val, milliseconds);

        const std::list<Timeout_t>::iterator &timeout = fTimeouts.begin();

        timeout->async_wait(boost::bind(&ConnectionDrive::HandleTimeout, this, timeout, ba::placeholders::error));
    }

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