Client Class Reference

Communication client declaration. More...

#include <client.h>

Inheritance diagram for Client:

Public Member Functions
Globals::Results	abort ()
	Abort the current operation.
virtual Globals::Results	pushIn (Message *msg)
	Emulate a message reception from the connected device.
virtual Globals::Results	popIn (Message *msg)
	Receive a message from the connected device.
virtual Globals::Results	pushOut (Message *msg)
	Send the message to the connected device.
virtual Globals::Results	popOut (Message *msg)
	Remove the first message sent to the connected device but not yet started (still present in the client outgoing queue).
virtual Globals::Results	flushMessages ()
	Flush messages in the client ingoing queue.
virtual Globals::Results	command (Message *cmd, Message *asw, ClientStruct::OperationData *data)
	Execute a generic command sequence on the connected device.
Globals::Results	replyBusy (Message *src)
	Reply with a BUSY message to the source message.
Globals::Results	replyMsg (Message *src, Message::MsgCodes msgCode, void *data, uint8_t len=0)
	Reply with a generic message to the source message.
Globals::Results	ping (ClientStruct::PingData &data)
	Execute a ping sequence on the connected device.
void	fillSystemInfoData (Message &msg, ClientStruct::SystemInfoData &data)
	Fill the SysInfoData data structure from the content of the Message msg.
Globals::Results	systemInfo (ClientStruct::SystemInfoData &data)
	Get the system information from the connected device.
Globals::Results	downloadSequence (ClientStruct::DownloadSequenceData &data)
	Execute a generic download sequence on the connected device.
Globals::Results	dataSaveSequence (ClientStruct::DataSaveSequenceData &data)
	Execute a generic data save sequence from on the connected device.
Globals::Results	dataLoadSequence (ClientStruct::DataLoadSequenceData &data)
	Execute a generic data load sequence to the connected device.
Globals::Results	flashDir (ClientStruct::FlashDirData &data)
	Get the content of the flash on the conencted device.
Globals::Results	flashFileLoad (ClientStruct::FlashFileLoadData &data)
	Load a file to the flash of the connected device.
Globals::Results	flashFileSave (ClientStruct::FlashFileSaveData &data)
	Save a file from the flash of the connected device.
Globals::Results	flashFileDelete (ClientStruct::FlashFileDeleteData &data)
	Delete files from the flash of the connected device.
Globals::Results	flashFileRename (ClientStruct::FlashFileRenameData &data)
	Rename a file in the flash of the connected device.
Globals::Results	flashFileInfo (ClientStruct::FlashFileInfoData &data)
	Get information for a file in the flash of the connected device.
Globals::Results	flashFormat (ClientStruct::FlashFormatData &data)
	Format a flash of the connecte device.
Globals::Results	flashFolderCreate (ClientStruct::FlashFolderCreateData &data)
	Create a folder in the flash of the connected device.
Globals::Results	flashFolderDelete (ClientStruct::FlashFolderDeleteData &data)
	Delete a folder in the flash of the connected device.
Globals::Results	flashFolderInfo (ClientStruct::FlashFolderInfoData &data)
	Get information for a folder in the flash of the connected device.
Globals::Results	flashDiskCreate (ClientStruct::FlashDiskCreateData &data)
	Create a flash in the physical storage of the connected device.
Globals::Results	flashDiskDelete (ClientStruct::FlashDiskDeleteData &data)
	Delete a flash form the physical storage of the connected device.
Globals::Results	flashDiskBackup (ClientStruct::FlashDiskBackpupData &data)
	Backup a flash content to the backup area of the connected device.
Globals::Results	flashDiskRestore (ClientStruct::FlashDiskRestoreData &data)
	Restore a flash content from the backup area of the connected device.
Globals::Results	flashSetAttributes (ClientStruct::FlashSetAttributesData &data)
	Sets attributes for flash's objects (files/folders)
Globals::Results	readVariable (ClientStruct::ReadVariableData &data)
	Read variable values from the connected device.
Globals::Results	writeVariable (ClientStruct::WriteVariableData &data)
	Write variable values to the connected device.
Globals::Results	forceVariable (ClientStruct::ForceVariableData &data)
	Force variable values on the connected device.
Globals::Results	releaseVariable (ClientStruct::ReleaseVariableData &data)
	Release variable values on the connected device.
Globals::Results	releaseAllVariables (ClientStruct::ReleaseAllVariablesData &data)
	Release all variables value on the connected device.
Globals::Results	alarmStackInfo (ClientStruct::AlarmStackInfoData &data)
	Get information about the alarm stack.
Globals::Results	alarmStackGet (ClientStruct::AlarmStackGetData &data)
	Get a single item from the alarm stack.
Globals::Results	alarmStackList (ClientStruct::AlarmStackListData &data)
	Get the list of alarms in the stack.
Globals::Results	alarmStackClear (ClientStruct::AlarmStackClearData &data)
	Clear alarm at index from the stack.
Globals::Results	alarmStackClearAll (ClientStruct::AlarmStackClearAllData &data)
	Clear all alarms from the stack.
Globals::Results	alarmStackClearSpec (ClientStruct::AlarmStackClearSpecData &data)
	Clear specific alarm from the stack.
Globals::Results	alarmHistoryInfo (ClientStruct::AlarmHistoryInfoData &data)
	Get information on alarm history.
Globals::Results	alarmHistoryList (ClientStruct::AlarmHistoryListData &data)
	Get alarm history list.
Globals::Results	alarmHistoryClear (ClientStruct::AlarmHistoryClearData &data)
	Clear alarm history.
Globals::Results	canObjRead (ClientStruct::CanObjReadData &data)
	Read CANopen object value.
Globals::Results	canObjWrite (ClientStruct::CanObjWriteData &data)
	Write CANopen object value.
Globals::Results	canNmtRead (ClientStruct::CanNmtReadData &data)
	Read CANopen NMT status.
Globals::Results	canNmtWrite (ClientStruct::CanNmtWriteData &data)
	Write CANopen NMT status.
Globals::Results	canEmcyRead (ClientStruct::CanEmcyReadData &data)
	Read CANopen emergency.
Globals::Results	canRbxChDiag (ClientStruct::CanRbxChDiagData &data)
	Read Robox diagnostic for CANopen's channel.
Globals::Results	canRbxWsDiag (ClientStruct::CanRbxWsDiagData &data)
	Read Robox diagnostic for CANopen's workstation.
Globals::Results	canRxPdoRead (ClientStruct::CanPdoReadData &data)
	Read Rx PDO data for CANopen's workstation.
Globals::Results	canTxPdoRead (ClientStruct::CanPdoReadData &data)
	Read Tx PDO data for CANopen's workstation.
Globals::Results	canC402Info (ClientStruct::CanC402InfoData &data)
	Read CAN402 information for CANopen's workstation.
Globals::Results	reportInfo (ClientStruct::ReportInfoData &data)
	Read information for user report.
Globals::Results	reportList (ClientStruct::ReportListData &data)
	Read list for user report.
Globals::Results	reportClear (ClientStruct::ReportClearData &data)
	Clear user report.
Globals::Results	reportSetMode (ClientStruct::ReportSetModeData &data)
	Set mode for user report.
Globals::Results	sysReportInfo (ClientStruct::SysReportInfoData &data)
	Read information for system report.
Globals::Results	sysReportList (ClientStruct::SysReportListData &data)
	Read list for system report.
Globals::Results	sysReportClear (ClientStruct::SysReportClearData &data)
	Clear system report.
Globals::Results	sysReportSetMode (ClientStruct::SysReportSetModeData &data)
	Set mode for system report.
Globals::Results	fbReadLocalEntry (ClientStruct::FbEntryData &data)
	Read entry from fieldbus local interface.
Globals::Results	fbWriteLocalEntry (ClientStruct::FbEntryData &data)
	Write to from fieldbus local interface.
Globals::Results	fbReadLocalNmt (ClientStruct::FbReadNmtData &data)
	Read NMT from fieldbus local interface.
Globals::Results	fbWriteLocalNmt (ClientStruct::FbWriteNmtData &data)
	Write NMT to fieldbus local interface.
Globals::Results	fbReadCoeEntry (ClientStruct::FbEntryData &data)
	Read entry from fieldbus EtherCAT (CoE) interface.
Globals::Results	fbWriteCoeEntry (ClientStruct::FbEntryData &data)
	Write to from fieldbus local interface.
Globals::Results	fbReadEcatNmt (ClientStruct::FbReadEcatNmtData &data)
	Read NMT from fieldbus EtherCAT interface.
Globals::Results	fbWriteEcatNmt (ClientStruct::FbWriteEcatNmtData &data)
	Write NMT from fieldbus EtherCAT interface.
Globals::Results	fbReadCanEntry (ClientStruct::FbEntryData &data)
	Read entry from fieldbus CANopen interface.
Globals::Results	fbWriteCanEntry (ClientStruct::FbEntryData &data)
	Write to from fieldbus CANopen interface.
Globals::Results	fbReadCanNmt (ClientStruct::FbReadNmtData &data)
	Read NMT from fieldbus CANopen interface.
Globals::Results	fbWriteCanNmt (ClientStruct::FbWriteNmtData &data)
	Write NMT to fieldbus CANopen interface.
Globals::Results	fbReadIf (ClientStruct::FbReadIfData &data)
	Read fieldbus interface.
Globals::Results	fbWriteIf (ClientStruct::FbWriteIfData &data)
	Write fieldbus interface.
Globals::Results	fbLoadFirmware (ClientStruct::FbLoadFirmwareData &data)
	load firmware file for fieldbus
int	txNumBlock (ClientStruct::OperationData *data=nullptr)
	Query the data interlocking value (trasmission)
virtual bool	connected ()
	The client connection state.
virtual bool	reconnecting ()
	The client reconnection state.
uint64_t	id () const
	Get the object identifier.
Connection *	connection () const
	Get the Connection object.
void	setConnection (Connection *value)
	Set the Connection object.
virtual uint8_t	targetId ()
	Get the client target identifier.
virtual void	setTargetId (uint8_t value)
	Set the client target identifier.
virtual uint8_t	targetCh ()
	Get the client target channel.
virtual void	setTargetCh (uint8_t value)
	Set the client target channel.
virtual uint8_t	sourceId ()
	Get the client source identifier.
virtual void	setSourceId (uint8_t value)
	Set the client source identifier.
virtual uint8_t	sourceCh ()
	Get the client source channel.
virtual void	setSourceCh (uint8_t value)
	Set the client source channel.
int	maxCmdTimeout () const
	Get the maximum generic command timeout [ms].
void	setMaxCmdTimeout (int value)
	Set the maximum generic command timeout [ms].
int	maxWaitTimeout () const
	Get the maximum generic wait timeout [ms].
void	setMaxWaitTimeout (int value)
	Set the maximum generic wait timeout [ms].

Protected Member Functions
	Client ()
	Class constructor.
virtual	~Client ()
	Class destructor.
virtual bool	doGetIBInfo (int &ibTx, int &ibRx, ClientStruct::OperationData &data)
	Query informations for the data interlocking.
uint8_t	nextCommandPid ()
	Get the next command Pid.
Globals::Results	checkSafeVarAvailability (ClientStruct::SafeModes safeMode, bool &useSafeVar)
	Helper method to check if we can use safe variable operations.
Globals::Results	doQueryDeviceInfo ()
	Retrieves informations from connected device.
Globals::Results	doReadStdVar (ClientStruct::ReadVariableData &data)
	Helper to read a standard variable.
Globals::Results	doReadStringVar (ClientStruct::ReadVariableData &data)
	Helper to read a string variable.
Globals::Results	doReadChVar (ClientStruct::ReadVariableData &data)
	Helper to read a channel variable.
Globals::Results	doReadAxisVar (ClientStruct::ReadVariableData &data)
	Helper to read an axis variable.
Globals::Results	doReadBitVar (ClientStruct::ReadVariableData &data)
	Helper to read an bit variable.
Globals::Results	doReadCachedVar (ClientStruct::ReadVariableData &data)
	Helper to read the values of a cached variable.
Globals::Results	doReadNamedVar (ClientStruct::ReadVariableData &data)
	Helper to read variable values from the connected device by specified data.Var.Name.
Globals::Results	doGetDataFromReadVar (Message &asw, const RVar::Base &var, const RVar::Index &index, Variable::Data::Vector &values)
	Helper to parse data stored into the asw message and fills the values list.
bool	canForceOrReleaseVariable (Protocol::VarTypes type)
	Helper to check if the specified variable type can be forced or released.
Globals::Results	doWriteVariable (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper method to write or force a variable.
Globals::Results	doWriteStdVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write or force a standard variable.
Globals::Results	doSetDataToWriteVar (Message &msg, bool useSafeVar, RVar::Dict::VarData &varData, Variable::Data::Vector &values, int &valOffset)
	Helper to fill the msg with values from values
Globals::Results	doWriteStringVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write or force a string variable.
Globals::Results	doWriteChVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write or force a channel variable.
Globals::Results	doWriteAxisVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write or force an axis variable.
Globals::Results	doWriteBitVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write a bit variable.
Globals::Results	doWriteNamedVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write or force variable values to the connected device by specified data.Var.Name.
Globals::Results	doWriteCachedVar (ClientStruct::BaseWriteVariableData &data, bool force, bool coherentValues)
	Helper to write or force the values to a cached variable.
Globals::Results	doReleaseStdVar (ClientStruct::ReleaseVariableData &data)
	Helper to release a standard variable.
Globals::Results	doReleaseVarByName (ClientStruct::ReleaseVariableData &data)
	Helper to release a variable from the connected device specified by data.Name.
Globals::Results	doReleaseCachedVar (ClientStruct::ReleaseVariableData &data)
	Helper to release a cached variable.
Globals::Results	doReleaseChVar (ClientStruct::ReleaseVariableData &data)
	Helper to release a channel variable.
Globals::Results	doReleaseAxisVar (ClientStruct::ReleaseVariableData &data)
	Helper to release an axis variable.
Globals::Results	doReleaseBitVar (ClientStruct::ReleaseVariableData &data)
	Helper to release an bit variable.
Globals::Results	doCanPdoRead (ClientStruct::CanPdoReadData &data, bool isTx)
	Read Tx/Rx PDO data for CANopen's workstation.
Globals::Results	doFbReadEntry (ClientStruct::FbEntryData &data, Message::MsgCodes msgCode)
	Helper for reading fieldbus entry.
Globals::Results	doFbWriteEntry (ClientStruct::FbEntryData &data, Message::MsgCodes msgCode)
	Helper for writing fieldbus entry.
Globals::Results	doFbReadNmt (ClientStruct::FbReadNmtData &data, Message::MsgCodes msgCode)
	Helper for reading fieldbus Nmt.
Globals::Results	doFbWriteNmt (ClientStruct::FbWriteNmtData &data, Message::MsgCodes msgCode)
	Helper for writing fieldbus Nmt.
Globals::Results	doFlashFileLoad (ClientStruct::FlashFileLoadData &data)
	Load a file to the flash of the connected device.
bool	abortRequest () const
	Get the flag to abort operation.
void	setAbortRequest (bool value)
	Set the flag to abort operation.
LocalClientLink *	localLink () const
	Get the LocalClientLink object.
void	setLocalLink (LocalClientLink *value)
	Set the LocalClientLink object.
MessageQueue *	outQueue () const
	Get the outgoing message queue.
void	setOutQueue (MessageQueue *value)
	Set the outgoing message queue.

Protected Attributes
std::recursive_timed_mutex	m_pidLock
	Object to lock the m_commandPid when generating the next pid value
uint8_t	m_commandPid
	Command protocol Id.

Friends
class	Connection
class	TcpIpConnection
class	Monitor
class	Oscilloscope
class	LocalClientLink

Detailed Description

Communication client declaration.

Constructor & Destructor Documentation

Client()

Client ( )

protected

Class constructor.

~Client()

virtual ~Client ( )

protectedvirtual

Class destructor.

Member Function Documentation

abort()

Globals::Results abort

(

)

Abort the current operation.

Returns

Returns Globals::resSuccess if some operation is in progress and the abort request was successfull setted, or Globals::resNoOperationRunning if no operation is in progress

This method is non blocking and returns immediatly without waiting for the effective operation abort.

abortRequest()

bool abortRequest ( ) const

protected

Get the flag to abort operation.

Returns

The parameter value

alarmHistoryClear()

Globals::Results alarmHistoryClear

(

ClientStruct::AlarmHistoryClearData &

data

)

Clear alarm history.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmHistoryClearData

alarmHistoryInfo()

Globals::Results alarmHistoryInfo

(

ClientStruct::AlarmHistoryInfoData &

data

)

Get information on alarm history.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmHistoryInfoData

alarmHistoryList()

Globals::Results alarmHistoryList

(

ClientStruct::AlarmHistoryListData &

data

)

Get alarm history list.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmHistoryListData

alarmStackClear()

Globals::Results alarmStackClear

(

ClientStruct::AlarmStackClearData &

data

)

Clear alarm at index from the stack.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmStackClearData

alarmStackClearAll()

Globals::Results alarmStackClearAll

(

ClientStruct::AlarmStackClearAllData &

data

)

Clear all alarms from the stack.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmStackClearAllData

alarmStackClearSpec()

Globals::Results alarmStackClearSpec

(

ClientStruct::AlarmStackClearSpecData &

data

)

Clear specific alarm from the stack.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmStackClearSpecData

alarmStackGet()

Globals::Results alarmStackGet

(

ClientStruct::AlarmStackGetData &

data

)

Get a single item from the alarm stack.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmStackGetData

alarmStackInfo()

Globals::Results alarmStackInfo

(

ClientStruct::AlarmStackInfoData &

data

)

Get information about the alarm stack.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmStackInfoData

alarmStackList()

Globals::Results alarmStackList

(

ClientStruct::AlarmStackListData &

data

)

Get the list of alarms in the stack.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.AlarmStackListData

canC402Info()

Globals::Results canC402Info

(

ClientStruct::CanC402InfoData &

data

)

Read CAN402 information for CANopen's workstation.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanC402InfoData

canEmcyRead()

Globals::Results canEmcyRead

(

ClientStruct::CanEmcyReadData &

data

)

Read CANopen emergency.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanEmcyReadData

canForceOrReleaseVariable()

bool canForceOrReleaseVariable ( Protocol::VarTypes type )

protected

Helper to check if the specified variable type can be forced or released.

Parameters

type	Type of the variable to check

Returns

True if the specified type can be forced/released

canNmtRead()

Globals::Results canNmtRead

(

ClientStruct::CanNmtReadData &

data

)

Read CANopen NMT status.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanNmtReadData

canNmtWrite()

Globals::Results canNmtWrite

(

ClientStruct::CanNmtWriteData &

data

)

Write CANopen NMT status.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanNmtWriteData

canObjRead()

Globals::Results canObjRead

(

ClientStruct::CanObjReadData &

data

)

Read CANopen object value.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanObjReadData

canObjWrite()

Globals::Results canObjWrite

(

ClientStruct::CanObjWriteData &

data

)

Write CANopen object value.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanObjWriteData

canRbxChDiag()

Globals::Results canRbxChDiag

(

ClientStruct::CanRbxChDiagData &

data

)

Read Robox diagnostic for CANopen's channel.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanRbxChDiagData

canRbxWsDiag()

Globals::Results canRbxWsDiag

(

ClientStruct::CanRbxWsDiagData &

data

)

Read Robox diagnostic for CANopen's workstation.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanRbxWsDiagData

canRxPdoRead()

Globals::Results canRxPdoRead

(

ClientStruct::CanPdoReadData &

data

)

Read Rx PDO data for CANopen's workstation.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanPdoReadData

canTxPdoRead()

Globals::Results canTxPdoRead

(

ClientStruct::CanPdoReadData &

data

)

Read Tx PDO data for CANopen's workstation.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.CanPdoReadData

checkSafeVarAvailability()

Globals::Results checkSafeVarAvailability ( ClientStruct::SafeModes safeMode, bool & useSafeVar )

protected

Helper method to check if we can use safe variable operations.

Parameters

safeMode	The requested ClientStruct::SafeModes: if setted to ClientStruct::safeModeIfSupported the remote device firmware version will be checked
useSafeVar	Flag to indicate if safe operation can be performed

Returns

Return the operation result code.

command()

virtual Globals::Results command ( Message * cmd, Message * asw, ClientStruct::OperationData * data )

virtual

Execute a generic command sequence on the connected device.

Parameters

cmd	The command message.
asw	The answer message if the command was successfull executed, otherwise null
data	The operation data.

Returns

Return the operation result code.

This method sends the command message and waits for the corresponding reply message, no later than a certain maximum time( maxCmdTimeout() property).

In case of success the answer message contains copy of the confirmation message; in case of failure the answer message contain the corresponding BCC error message.

When a Nack response message is received, the return result code is setted to resRemoteError and the operation data fields ClientStruct::ErrorData::nackErrCode(), ClientStruct::ErrorData::nackErrExtra() are updated

When a Abort response message is received or the operation is locally aborted, the return result code is setted to Globals::resAborted and the operation data fields ClientStruct::ErrorData::nackErrCode(), ClientStruct::ErrorData::nackErrExtra() are updated

Example of getting current data and time from the connected device:

// Create the command message
// NOTE: for more information about the GetDateTime message, look at BCC/31 Communication Protocol documentation.
Client* client;
// ... setup the client object using your logic here ....
ClientStruct::OperationData data;
Message cmd;
Message asw;
cmd.setMsg(Message::msgCodesGetDateTime);
 
// Execute the command
if (client->command(&cmd, &asw, &data) == Globals::resSuccess)
{
    cout <<
        "Data " <<
        StringHelper::fromU8(asw.getU8(3)) << "/" << // U8 offset 3 (day)
        StringHelper::fromU8(asw.getU8(4)) << "/" << // U8 offset 4 (month)
        StringHelper::fromU8(asw.getU16(5)) << // U16 offset 5 (year)
        "Ora " <<
        StringHelper::fromU8(asw.getU8(0)) << ":" << // U8 offset 0 (hour)
        StringHelper::fromU8(asw.getU8(1)) << ":" << // U8 offset 1 (minute)
        StringHelper::fromU8(asw.getU8(2)) << endl; // U8 offset 2 (second)
}
else
{
    cout << "Unable to get the date and time:" << endl;
}

Example of setting current date and time to the connected device.

// Create the command message with date '15/08/2013', time '09:35:50'.
// NOTE: for more information about the SetDateTime message, look at BCC/31 Communication Protocol documentation.
Client* client;
// ... setup the client object using your logic here ....
ClientStruct::OperationData data;
Message cmd;
Message asw;
cmd.setMsg(Message::msgCodesSetDateTime);
cmd.setU8(3, 15);    // U8 offset 3 (day)
cmd.setU8(4, 8);     // U8 offset 4 (month)
cmd.setU16(5, 2013); // U16 offset 5 (year)
cmd.setU8(0, 9);     // U8 offset 0 (hour)
cmd.setU8(1, 35);    // U8 offset 1 (minute)
cmd.setU8(2, 50);    // U8 offset 2 (second)
 
// Execute the command
if (client->command(&cmd, &asw, &data) == Globals::resSuccess)
{
    cout << "Date and time set successfully" << endl;
}
else
{
    cout << "Unable to set the date and time: " << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of decoding a NACK error message:

// Create a bad command message
Client* client;
// ... setup the client object using your logic here ....
ClientStruct::OperationData data;
Message cmd;
Message asw;
cmd.setMsg((Message::MsgCodes)0xffff); // Invalid message code
 
// Execute the bad command
if (client->command(&cmd, &asw, &data) == Globals::resRemoteError && data.nackErrCode() != Message::errCodesNoError)
{
    cout << "Obtained error code = " << data.nackErrCode() << " extra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::OperationData

connected()

virtual bool connected ( )

virtual

The client connection state.

This value reflect the connected state of the underlying connection system.

connection()

Connection * connection

(

)

const

Get the Connection object.

Returns

The parameter value

dataLoadSequence()

Globals::Results dataLoadSequence

(

ClientStruct::DataLoadSequenceData &

data

)

Execute a generic data load sequence to the connected device.

Parameters

data	Reference to the operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of manually loading of a ladder diagram task into memory:

Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
uint16_t process_id = 27;     // Assign your own process ID
uint32_t flags = 0;           // Assign your own flags
 
ClientStruct::DataLoadSequenceData data;
data.cmd().setMsg(Message::msgCodesLadTaskSave);
data.cmd().setDataLength(22);
ByteVector buffer;
FileHelper::read("saved_task.lad", buffer);
data.setRawData(buffer);
data.cmd().setU32(0, (uint32_t)data.rawData().size());
data.cmd().setU16(16, process_id);
data.cmd().setU32(18, flags);
if (client->dataLoadSequence(data) == Globals::resSuccess)
    cout << "Task successfully loaded" << endl;
else
{
    cout << "Unable to load the task:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

dataSaveSequence()

Globals::Results dataSaveSequence

(

ClientStruct::DataSaveSequenceData &

data

)

Execute a generic data save sequence from on the connected device.

Parameters

data	Reference to the operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of manually saving of a ladder diagram task from memory:

Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
uint16_t process_id = 27;     // Assign your own process ID
uint32_t flags = 0;             // Assign your own flags
 
ClientStruct::DataSaveSequenceData data;
data.cmd().setMsg(Message::msgCodesLadTaskSave);
data.cmd().setDataLength(22);
data.cmd().setU16(16, process_id);
data.cmd().setU32(18, flags);
if (client->dataSaveSequence(data) == Globals::resSuccess)
{
    cout << "Task successfully saved" << endl;
    FileHelper::write("saved_task.lad", data.rawData(), 0, data.rawData().size(), true);
}
else
{
    cout << "Unable to save the task:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

doCanPdoRead()

Globals::Results doCanPdoRead ( ClientStruct::CanPdoReadData & data, bool isTx )

protected

Read Tx/Rx PDO data for CANopen's workstation.

Parameters

data	The operation data.
isTx	Setted to read Tx PDO

Returns

Return the operation result code.

doFbReadEntry()

Globals::Results doFbReadEntry ( ClientStruct::FbEntryData & data, Message::MsgCodes msgCode )

protected

Helper for reading fieldbus entry.

Parameters

data	The operation data.
msgCode	The message code to handle

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

doFbReadNmt()

Globals::Results doFbReadNmt ( ClientStruct::FbReadNmtData & data, Message::MsgCodes msgCode )

protected

Helper for reading fieldbus Nmt.

Parameters

data	The operation data.
msgCode	The message code to handle

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbReadNmtData

doFbWriteEntry()

Globals::Results doFbWriteEntry ( ClientStruct::FbEntryData & data, Message::MsgCodes msgCode )

protected

Helper for writing fieldbus entry.

Parameters

data	The operation data.
msgCode	The message code to handle

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

doFbWriteNmt()

Globals::Results doFbWriteNmt ( ClientStruct::FbWriteNmtData & data, Message::MsgCodes msgCode )

protected

Helper for writing fieldbus Nmt.

Parameters

data	The operation data.
msgCode	The message code to handle

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbWriteNmtData

doFlashFileLoad()

Globals::Results doFlashFileLoad ( ClientStruct::FlashFileLoadData & data )

protected

Load a file to the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

See documentation for Client::flashFileLoad(ClientStruct::FlashFileLoadData &)

doGetDataFromReadVar()

Globals::Results doGetDataFromReadVar ( Message & asw, const RVar::Base & var, const RVar::Index & index, Variable::Data::Vector & values )

protected

Helper to parse data stored into the asw message and fills the values list.

Parameters

asw	The message to read the data from
var	The variable read (Base )
index	The index of the variable (Index)
values	Storage for the data retrived from the message

Returns

Return the operation result code.

doGetIBInfo()

virtual bool doGetIBInfo ( int & ibTx, int & ibRx, ClientStruct::OperationData & data )

protectedvirtual

Query informations for the data interlocking.

Parameters

ibTx	Reference to interlocking for trasmission
ibRx	Reference to interlocking for reception
data	The operation data

Returns

The logical operation result.

doQueryDeviceInfo()

Globals::Results doQueryDeviceInfo ( )

protected

Retrieves informations from connected device.

Returns

Returns Globals::resSuccess if the operation was successfully completed

This method wraps the Connection::queryDeviceInfo(Client *, bool, bool &) method call.

The values of m_devInfoValid field will be synched to the value of the Connection::devInfoValid() parameter

doReadAxisVar()

Globals::Results doReadAxisVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read an axis variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReadBitVar()

Globals::Results doReadBitVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read an bit variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReadCachedVar()

Globals::Results doReadCachedVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read the values of a cached variable.

Parameters

data	The operation data with the chaced Id of the variable to read

Returns

Returns the operation result code

The variable must be previously cached with the method Connection.AddToVarsCache(string, string)

doReadChVar()

Globals::Results doReadChVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read a channel variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReadNamedVar()

Globals::Results doReadNamedVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read variable values from the connected device by specified data.Var.Name.

Parameters

data	The operation data with the name of the variable to be read.

Returns

Return the operation result code.

doReadStdVar()

Globals::Results doReadStdVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read a standard variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReadStringVar()

Globals::Results doReadStringVar ( ClientStruct::ReadVariableData & data )

protected

Helper to read a string variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReleaseAxisVar()

Globals::Results doReleaseAxisVar ( ClientStruct::ReleaseVariableData & data )

protected

Helper to release an axis variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReleaseBitVar()

Globals::Results doReleaseBitVar ( ClientStruct::ReleaseVariableData & data )

protected

Helper to release an bit variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReleaseCachedVar()

Globals::Results doReleaseCachedVar ( ClientStruct::ReleaseVariableData & data )

protected

Helper to release a cached variable.

Parameters

data	The operation data with the Id of the cached variable to release

Returns

Returns the operation result code

The variable must be previously cached with the method Connection.AddToVarsCache(string, string)

doReleaseChVar()

Globals::Results doReleaseChVar ( ClientStruct::ReleaseVariableData & data )

protected

Helper to release a channel variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReleaseStdVar()

Globals::Results doReleaseStdVar ( ClientStruct::ReleaseVariableData & data )

protected

Helper to release a standard variable.

Parameters

data	The operation data.

Returns

Return the operation result code.

doReleaseVarByName()

Globals::Results doReleaseVarByName ( ClientStruct::ReleaseVariableData & data )

protected

Helper to release a variable from the connected device specified by data.Name.

Parameters

data	The operation data.

Returns

Return the operation result code.

doSetDataToWriteVar()

Globals::Results doSetDataToWriteVar ( Message & msg, bool useSafeVar, RVar::Dict::VarData & varData, Variable::Data::Vector & values, int & valOffset )

protected

Helper to fill the msg with values from values

Parameters

msg	The message to fill (Message)
useSafeVar	Flag to use safe variable commands
varData	The Dict.VarData containing the variable data definition
values	The list of values to store into msg
valOffset	The starting offset into values array of values

Returns

Returns the operation result code

downloadSequence()

Globals::Results downloadSequence

(

ClientStruct::DownloadSequenceData &

data

)

Execute a generic download sequence on the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of manually getting a complete user report from the connected device:

// Prepare and execute the report information request
Client* client;
// ... setup the client object using your logic here ....
ClientStruct::OperationData data;
Message cmd;
Message asw;
cmd.setMsg(Message::msgCodesReportInfo);
 
// Execute the command
if (client->command(&cmd, &asw, &data) == Globals::resSuccess)
{
    // Cache report information's
    uint32_t oldId = 0;
    uint32_t newId = 0;
    uint32_t countId = 0;
    asw.getU32(0, oldId);
    asw.getU32(4, newId);
    asw.getU32(8, countId);
 
    // Prepare and execute the report download request
    ClientStruct::DownloadSequenceData dsData;
    dsData.cmd().setMsg(Message::msgCodesReportList);
    dsData.cmd().setDataLength(12);
    dsData.cmd().setU32(0, oldId);
    dsData.cmd().setU32(4, newId);
    dsData.cmd().setU32(8, countId);
    if (client->downloadSequence(dsData) == Globals::resSuccess)
    {
        // Print the obatined report content
        String buffer;
        for (int msgIdx = 0; msgIdx < dsData.list().size(); msgIdx++)
        {
            dsData.list()[msgIdx].getStringUTF8(14, buffer);
            cout << buffer << endl;
        }
    }
    else
    {
        cout << "Unable to get the report:" << endl;
        if (data.nackErrCode() != Message::errCodesNoError)
            cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
    }
}
else
{
    cout << "Unable to get the report info:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

doWriteAxisVar()

Globals::Results doWriteAxisVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write or force an axis variable.

Parameters

data	The operation data.
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Return the operation result code.

doWriteBitVar()

Globals::Results doWriteBitVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write a bit variable.

Parameters

data	The operation data.
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Return the operation result code.

doWriteCachedVar()

Globals::Results doWriteCachedVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write or force the values to a cached variable.

Parameters

data	The operation data with the Id of the cached variable to write
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Returns the operation result code

The variable must be previously cached with the method Connection.AddToVarsCache(string, string)

doWriteChVar()

Globals::Results doWriteChVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write or force a channel variable.

Parameters

data	The operation data.
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Return the operation result code.

doWriteNamedVar()

Globals::Results doWriteNamedVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write or force variable values to the connected device by specified data.Var.Name.

Parameters

data	The operation data.
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Return the operation result code.

doWriteStdVar()

Globals::Results doWriteStdVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write or force a standard variable.

Parameters

data	The operation data.
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Return the operation result code.

doWriteStringVar()

Globals::Results doWriteStringVar ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper to write or force a string variable.

Parameters

data	The operation data.
force	Flag to force the variable instead of write.
coherentValues	Flag to ensure coherent values operations

Returns

Return the operation result code.

doWriteVariable()

Globals::Results doWriteVariable ( ClientStruct::BaseWriteVariableData & data, bool force, bool coherentValues )

protected

Helper method to write or force a variable.

Parameters

data	The operation data
force	Flag setted to force the variable, resetted to write the variable
coherentValues	Flag setted to use coherent operations , i.e. don't split the command into multiple requests

Returns

Return the operation result code.

fbLoadFirmware()

Globals::Results fbLoadFirmware

(

ClientStruct::FbLoadFirmwareData &

data

)

load firmware file for fieldbus

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbLoadFirmwareData

fbReadCanEntry()

Globals::Results fbReadCanEntry

(

ClientStruct::FbEntryData &

data

)

Read entry from fieldbus CANopen interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

fbReadCanNmt()

Globals::Results fbReadCanNmt

(

ClientStruct::FbReadNmtData &

data

)

Read NMT from fieldbus CANopen interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbNmtData, Client.FbReadNmtData

and

fbReadCoeEntry()

Globals::Results fbReadCoeEntry

(

ClientStruct::FbEntryData &

data

)

Read entry from fieldbus EtherCAT (CoE) interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

fbReadEcatNmt()

Globals::Results fbReadEcatNmt

(

ClientStruct::FbReadEcatNmtData &

data

)

Read NMT from fieldbus EtherCAT interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbReadEcatNmtData

fbReadIf()

Globals::Results fbReadIf

(

ClientStruct::FbReadIfData &

data

)

Read fieldbus interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbReadIfData

fbReadLocalEntry()

Globals::Results fbReadLocalEntry

(

ClientStruct::FbEntryData &

data

)

Read entry from fieldbus local interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

fbReadLocalNmt()

Globals::Results fbReadLocalNmt

(

ClientStruct::FbReadNmtData &

data

)

Read NMT from fieldbus local interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbNmtData, Client.FbReadNmtData

and

fbWriteCanEntry()

Globals::Results fbWriteCanEntry

(

ClientStruct::FbEntryData &

data

)

Write to from fieldbus CANopen interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

fbWriteCanNmt()

Globals::Results fbWriteCanNmt

(

ClientStruct::FbWriteNmtData &

data

)

Write NMT to fieldbus CANopen interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbNmtData, Client.FbWriteNmtData

and

fbWriteCoeEntry()

Globals::Results fbWriteCoeEntry

(

ClientStruct::FbEntryData &

data

)

Write to from fieldbus local interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

fbWriteEcatNmt()

Globals::Results fbWriteEcatNmt

(

ClientStruct::FbWriteEcatNmtData &

data

)

Write NMT from fieldbus EtherCAT interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbWriteEcatNmtData

fbWriteIf()

Globals::Results fbWriteIf

(

ClientStruct::FbWriteIfData &

data

)

Write fieldbus interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbWriteIfData

fbWriteLocalEntry()

Globals::Results fbWriteLocalEntry

(

ClientStruct::FbEntryData &

data

)

Write to from fieldbus local interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbEntryData

fbWriteLocalNmt()

Globals::Results fbWriteLocalNmt

(

ClientStruct::FbWriteNmtData &

data

)

Write NMT to fieldbus local interface.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.FbNmtData, Client.FbWriteNmtData

and

fillSystemInfoData()

void fillSystemInfoData	(	Message &	msg,
		ClientStruct::SystemInfoData &	data )

Fill the SysInfoData data structure from the content of the Message msg.

Parameters

msg	The source message from which retrive the data
data	The object to fill

flashDir()

Globals::Results flashDir

(

ClientStruct::FlashDirData &

data

)

Get the content of the flash on the conencted device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of enumeration of flash files:

// Prepare and execute the request to enumarate the files
// contained in the /fa path, using absolute paths.
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashDirData data;
data.setFlags((ClientStruct::FlashDirData::Flagss)(ClientStruct::FlashDirData::fAbsPath | ClientStruct::FlashDirData::fListFiles));
data.setPath("/fa/*");
if (client->flashDir(data) == Globals::resSuccess)
{
    // Print all obained flash files
    for (int itemIdx = 0; itemIdx < data.items().size(); itemIdx++)
    {
        if ((data.items()[itemIdx].attributes() & ClientStruct::FlashItem::attrTypeElType) == ClientStruct::FlashItem::attrTypeElFile)
            cout << "File " << data.items()[itemIdx].name() << " , dimensione  " << data.items()[itemIdx].size() << endl;
    }
}
else
{
    cout << "Unable to get the flash content:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashDirData

flashDiskBackup()

Globals::Results flashDiskBackup

(

ClientStruct::FlashDiskBackpupData &

data

)

Backup a flash content to the backup area of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

For more detailed information about managing flashes look at the RTE Firmware Documentation.

flashDiskCreate()

Globals::Results flashDiskCreate

(

ClientStruct::FlashDiskCreateData &

data

)

Create a flash in the physical storage of the connected device.

Parameters

data	Reference to the operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

For more detailed information about managing flashes look at the RTE Firmware Documentation.

flashDiskDelete()

Globals::Results flashDiskDelete

(

ClientStruct::FlashDiskDeleteData &

data

)

Delete a flash form the physical storage of the connected device.

Parameters

data	Reference to the operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

For more detailed information about managing flashes look at the RTE Firmware Documentation.

flashDiskRestore()

Globals::Results flashDiskRestore

(

ClientStruct::FlashDiskRestoreData &

data

)

Restore a flash content from the backup area of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

WARNING: all previous data in the flash will be overwritten with files restored from the backup area!

This method make use of the state and progress events.

For more detailed information about managing flashes look at the RTE Firmware Documentation.

flashFileDelete()

Globals::Results flashFileDelete

(

ClientStruct::FlashFileDeleteData &

data

)

Delete files from the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of deleting files from the flash:

// Prepare and execute request for deleting al .DAT files
// in the flash folder /fb.
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFileDeleteData data;
data.setFileMask("/fb/*.dat");
if (client->flashFileDelete(data) == Globals::resSuccess)
{
    cout << "Successfully delete {" << data.count() << "} file(s)" << endl;
}
else
{
    cout << "Unable to delete the files:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashFileDeleteData

flashFileInfo()

Globals::Results flashFileInfo

(

ClientStruct::FlashFileInfoData &

data

)

Get information for a file in the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of getting information of a file in the flash:

// Prepare and execute request for getting information for file /fa/mydata.dat
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFileInfoData data;
data.setSource / ("/fa/mydata.dat");
data.setFlags((ClientStruct::FlashFileInfoData::Flagss)(ClientStruct::FlashFileInfoData::fAbsPath | ClientStruct::FlashFileInfoData::fDateTimeModify));
if (client->flashFileInfo(data) == Globals::resSuccess)
{
    cout << "File " << data.info().name() << ", last modification " << data.info().dateTime() << endl;
}
else
{
    cout << "Unable to get file info :" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashFileInfoData

flashFileLoad()

Globals::Results flashFileLoad

(

ClientStruct::FlashFileLoadData &

data

)

Load a file to the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

The files are also loaded into the ramdisk with this same command, only need to specify the path corresponding to the desired ramdisk.

Example of loading a file to the flash.

// Prepare and execute the request to load the local
// file C:\MyFile.dat to the target flash in path /fa
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFileLoadData data;
data.setFlags(ClientStruct::FlashFileLoadData::fOverwrite);
data.setSource("C:\\MyFile.dat");
data.setTarget("/fa/myfile.dat");
if (client->flashFileLoad(data) == Globals::resSuccess)
{
    cout << "File successfully loaded" << endl;
}
else
{
    cout << "Unable to load the file:") << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashFileLoadData

flashFileRename()

Globals::Results flashFileRename

(

ClientStruct::FlashFileRenameData &

data

)

Rename a file in the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of renaming of a file in the flash:

// Prepare and execute request for renaming the file /fa/mydata.dat
// to /fa/mydata-old.dat
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFileRenameData data;
data.setSource("/fa / mydata.dat");
data.setTarget("/fa / mydata - old.dat");
data.setFlags(ClientStruct::FlashFileRenameData::fOverwrite);
if (client->flashFileRename(data) == Globals::resSuccess)
{
    cout << "File successfully renamed" << endl;
}
else
{
    cout << "Unable to rename the file:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

Client.FlashFileRenameData

flashFileSave()

Globals::Results flashFileSave

(

ClientStruct::FlashFileSaveData &

data

)

Save a file from the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

The files are also saved from the ramdisk with this same command, only need to specify the path corresponding to the desired ramdisk.

Example of saving a file from the flash.

// Prepare and execute the request to save the flash
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFileSaveData data;
data.setFlags(ClientStruct::FlashFileSaveData::fOverwrite);
data.setSource("/fa/myfile.dat");
data.setTarget("C:\\MyFile.dat");
if (client->flashFileSave(data) == Globals::resSuccess)
{
    cout << "File successfully saved" << endl;
}
else
{
    cout << "Unable to save the file:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::flashFileSaveData

flashFolderCreate()

Globals::Results flashFolderCreate

(

ClientStruct::FlashFolderCreateData &

data

)

Create a folder in the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of creating a folder in the flash:

// Prepare and execute request for creating the folder /data/recipes/active 
// in the flash, creating non existing path levels.
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFolderCreateData data;
data.setPath("/data/recipes/active");
data.setFlags((ClientStruct::FlashFolderCreateData::Flagss)(ClientStruct::FlashFolderCreateData::fRecursive | ClientStruct::FlashFolderCreateData::fSkipExisting));
if (client->flashFolderCreate(data) == Globals::resSuccess)
{
    cout << "Folder sucessfully created" << endl;
}
else
{
    cout << "Unable to create the folder:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashFolderCreateData

flashFolderDelete()

Globals::Results flashFolderDelete

(

ClientStruct::FlashFolderDeleteData &

data

)

Delete a folder in the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

// Prepare and execute request for removing the folder /data/recipes/ in the flash, 
// removing all the content recursively (all contained folder and files)
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFolderDeleteData data;
data.setPath("/data/recipes");
data.setFlags((ClientStruct::FlashFolderDeleteData::Flagss)(ClientStruct::FlashFolderDeleteData::fRecursive | ClientStruct::FlashFolderDeleteData::fDeleteContent));
if (client->flashFolderDelete(data) == Globals::resSuccess)
{
    cout << "Folder sucessfully deleted" << endl;
}
else
{
    cout << "Unable to delete the folder:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashFolderDeleteData

flashFolderInfo()

Globals::Results flashFolderInfo

(

ClientStruct::FlashFolderInfoData &

data

)

Get information for a folder in the flash of the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

Example of getting information of a folder in the flash:

// Prepare and execute request for getting information for file /data/recipes
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
ClientStruct::FlashFolderInfoData data;
data.setPath("/data/recipes");
data.setFlags(ClientStruct::FlashFolderInfoData::fDateTimeAccess);
if (client->flashFolderInfo(data) == Globals::resSuccess)
{
    cout << "Folder " << data.info().name() << ", last access ") << data.info().dateTime() << endl;
}
else
{
    cout << "Unable to get folder info:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

See also

ClientStruct::FlashFolderInfoData

flashFormat()

Globals::Results flashFormat

(

ClientStruct::FlashFormatData &

data

)

Format a flash of the connecte device.

Parameters

data	Reference to the operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

For more detailed information about managing flashes look at the RTE Firmware Documentation.

See also

ClientStruct::FlashFormatData

flashSetAttributes()

Globals::Results flashSetAttributes

(

ClientStruct::FlashSetAttributesData &

data

)

Sets attributes for flash's objects (files/folders)

Parameters

data	The operation data.

Returns

Return the operation result code.

flushMessages()

virtual Globals::Results flushMessages ( )

virtual

Flush messages in the client ingoing queue.

Returns

Return the operation result code.

forceVariable()

Globals::Results forceVariable

(

ClientStruct::ForceVariableData &

data

)

Force variable values on the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

Example of forcing a bit of a physical 16bit output word.

// Prepare and execute the request to atomically force to 'on'
// the bit 5 of the physical 16bit output at index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ForceVariableData data(Variable::fromBitPhyOW16(1, 5));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
varData.setBoolean(true);
data.values().pushBack(varData); 
if (client->forceVariable(data) == Globals::resSuccess)
{
    cout << "Variable successully forced" << endl;
}
else
{
    cout << "Unable to force the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of forcing a logical 16bit input word.

// Prepare and execute the request to force to value
// 0x8F0A the logical 16bit word ad index 1.
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ForceVariableData data(Variable::fromLogIW16(1));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
varData.setU16(0x8f0a);
data.values().pushBack(varData);
 
if (client->forceVariable(data) == Globals::resSuccess)
{
    cout << "Variable successully forced" << endl;
}
else
{
    cout << "Unable to force the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of forcing a bit of a physical 16bit output word.

// Prepare and execute the request to atomically force to 'on'
// the bit 5 of the physical 16bit output at index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ForceVariableData data(Variable::fromBitPhyOW16(1, 5));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
varData.setBoolean(true);
data.values().pushBack(varData);
 
if (client->forceVariable(data) == Globals::resSuccess)
{
    cout << "Variable successully forced" << endl;
}
else
{
    cout << "Unable to force the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of forcing a logical 16bit input word specified by name.

// Prepare and execute the request to atomically force to 'on'
// the bit 5 of the physical 16bit input at index 100
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ForceVariableData data(Variable::fromName("inp_w 100.5"));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
varData.setU16(1);
data.values().pushBack(varData);
 
if (client->forceVariable(data) == Globals::resSuccess)
{
    cout << "Variable successully forced" << endl;
}
else
{
    cout << "Unable to force the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of forcing a logical 16bit input word specified by name and stored into the cache:

// Prepare and execute the request to atomically force to 'on'
// the bit 5 of the physical 16bit input at index 100
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
Connection* connection;
// ... setup the connection object using your logic here ....
uint32_t cacheId = connection->addToVarsCache("inp_w 100.5");
if (cacheId != 0)
{
    // Setup the variable object using a proper helper function
    ClientStruct::ForceVariableData data(Variable::fromCache(cacheId));
    // Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
    //data.setSafe(ClientStruct::safeModeIfSupported);
    Variable::Data varData;
    varData.setU16(1);
    data.values().pushBack(varData);
 
    if (client->forceVariable(data) == Globals::resSuccess)
    {
        cout << "Variable successully forced" << endl;
    }
    else
    {
        cout << "Unable to force the variable:" << endl;
        if (data.nackErrCode() != Message::errCodesNoError)
            cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
    }
}

This method make use of the state and progress events.

For more information about parameter and axis parameter indexes, look at R3 Programming Language documentation, chapter Prefined Variables.

The Count and AxCount attributes are not present in the ForceVariableData class because they are automatically calculated based on the content of the Values list.

The above examples show the usage of the raccomended method to initialize a Variable object , i.e. using the factory helper function for the specific data type, but you can allocate the object by your own and set the getSingle specific parameters required for the variable data type.

See also

ClientStruct.ForceVariableData, Message::VarTypes

id()

uint64_t id

(

)

const

Get the object identifier.

Returns

The object identifier

localLink()

LocalClientLink * localLink ( ) const

protected

Get the LocalClientLink object.

Returns

The parameter value

maxCmdTimeout()

int32_t maxCmdTimeout

(

)

const

Get the maximum generic command timeout [ms].

Returns

The parameter value

maxWaitTimeout()

int32_t maxWaitTimeout

(

)

const

Get the maximum generic wait timeout [ms].

Returns

The parameter value

nextCommandPid()

uint8_t nextCommandPid ( )

protected

Get the next command Pid.

Returns

The next command Pid

outQueue()

MessageQueue * outQueue ( ) const

protected

Get the outgoing message queue.

Returns

The parameter value

ping()

Globals::Results ping

(

ClientStruct::PingData &

data

)

Execute a ping sequence on the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

Example of testing communication timing with the connected device:

// Prepare and execute the request
Client* client;
// ... setup the client object using your logic here ....
ClientStruct::PingData data;
if (client->ping(data) == Globals::resSuccess)
{
    cout << "Ping with time of " << data.time() << "ms" << endl;
}
else
{
    cout << "Unable to ping:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

popIn()

virtual Globals::Results popIn ( Message * msg )

virtual

Receive a message from the connected device.

Parameters

msg	The removed message, if successfully.

Returns

Return the operation result code.

popOut()

virtual Globals::Results popOut ( Message * msg )

virtual

Remove the first message sent to the connected device but not yet started (still present in the client outgoing queue).

Parameters

msg	The removed message, if successfully.

Returns

Return the operation result code.

pushIn()

virtual Globals::Results pushIn ( Message * msg )

virtual

Emulate a message reception from the connected device.

Parameters

msg	The desired message.

Returns

Return the operation result code

pushOut()

virtual Globals::Results pushOut ( Message * msg )

virtual

Send the message to the connected device.

Parameters

msg	The desired message.

Returns

Return the operation result code.

readVariable()

Globals::Results readVariable

(

ClientStruct::ReadVariableData &

data

)

Read variable values from the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

Example of reading volatile integer 32bit registers:

// Prepare and execute the request for reading 16 consecutive 
// volatile integer 32bit registers from index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReadVariableData data(Variable::fromVR32(1, 16));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->readVariable(data) == Globals::resSuccess)
{
    // Print the obtained values
    for (size_t valIdx = 0; valIdx < data.values().size(); valIdx++)
    {
        cout << data.values()[valIdx].getU32() << " ";
    }
    cout << "\n";
}
else
{
    cout << "Unable to read the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

// Prepare and execute the request for reading 300 consecutive 
// volatile integer 32bit registers from index 1
// Note that 300 exceeds the maximum BCC protocol specification
// so the operation will be performed only in non coherent values operation
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReadVariableData data(Variable::fromVR32(1, 300));
// Setting the flag CoherentValues to true will produce an error: the default value is false
// data.CoherentValues = true;
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->readVariable(data) == Globals::resSuccess)
{
    // Print the obtained values
    for (size_t valIdx = 0; valIdx < data.values().size(); valIdx++)
    {
        cout << data.values()[valIdx].getU32() << " ";
    }
    cout << "\n";
}
else
{
    cout << "Unable to read the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of reading a non volatile string register:

// Prepare and execute the request for reading
// a volatile string register at index 1
Client* client;              // Initialize your own client
// ... Setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReadVariableData data(Variable::fromNvSR(1, 128));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->readVariable(data) == Globals::resSuccess)
{
    // Print the obtained values
    for (size_t valIdx = 0; valIdx < data.values().size(); valIdx++)
    {
        cout << data.values()[valIdx].getString() << " ";
    }
    cout << "\n";
}
else
{
    cout << "Unable to read the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of reading a real axis parameter:

// Prepare and execute the request for reading
// the current position (CP) for axes from 5 to 8
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReadVariableData data(Variable::fromAxisR(1, 5, 3));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->readVariable(data) == Globals::resSuccess)
{
    // Print the obtained values
    for (size_t valIdx = 0; valIdx < data.values().size(); valIdx++)
    {
        cout << data.values()[valIdx].getDouble() << " ";
    }
    cout << "\n";
}
else
{
    cout << "Unable to read the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of reading volatile integer 32bit registers specified by name:

// Prepare and execute the request for reading 50 consecutive 
// volatile integer 32bit registers from index 100
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReadVariableData data(Variable::fromName("R 100 , 50"));
// Setting the flag coherentValues() to true will produce an error: the default value is false
// data.setCoherentValues(true);
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->readVariable(data) == Globals::resSuccess)
{
    // Print the obtained values
    for (size_t valIdx = 0; valIdx < data.values().size(); valIdx++)
    {
        cout << data.values()[valIdx].getU32() << " ";
    }
    cout << "\n";
}
else
{
    cout << "Unable to read the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of reading volatile integer 32bit registers specified by name and stored into the cache:

// Prepare and execute the request for caching and reading 50 consecutive 
// volatile integer 32bit registers from index 100
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
Connection* connection;
// ... setup the connection object using your logic here ....
uint32_t cacheId = connection->addToVarsCache("R 100 ,50");
if (cacheId != 0) {
    // Setup the variable object using a proper helper function
    ClientStruct::ReadVariableData data(Variable::fromCache(cacheId));
    // Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
    //data.setSafe(ClientStruct::safeModeIfSupported);
    if (client->readVariable(data) == Globals::resSuccess)
    {
        // Print the obtained values
        for (size_t valIdx = 0; valIdx < data.values().size(); valIdx++)
        {
            cout << data.values()[valIdx].getU32() << " ";
        }
        cout << "\n";
                }
    else
    {
        cout << "Unable to read the variable:" << endl;
        if (data.nackErrCode() != Message::errCodesNoError)
            cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
    }
}

This method make use of the state and progress events.

Although there is the possibility to read specific bits of a variable it is advisable, for performance reasons, reading the variable in full (for example if you need a bit from integer register, its better to read the whole register value and then test the desired bit).

For more information about parameter and axis parameter indexes, look at R3 Programming Language documentation, chapter Prefined Variables.

The ClientStruct.ReadVariableData.coherentValues() defaults to false so you can perform operations returning a number of data above the BCC protocol specification. The method will provide to send multile commands to acomplish the BCC protocol data size, so the data consistency is not guaranteed

The above examples show the usage of the raccomended method to initialize a Variable object , i.e. using the factory helper function for the specific data type, but you can allocate the object by your own and set the getSingle specific parameters required for the variable data type.

See also

Variable, ClientStruct.ReadVariableData, Message::VarTypes

reconnecting()

virtual bool reconnecting ( )

virtual

The client reconnection state.

Returns

The client reconnection state.

Value of true indicate the there is a reconnection action in progress.

releaseAllVariables()

Globals::Results releaseAllVariables

(

ClientStruct::ReleaseAllVariablesData &

data

)

Release all variables value on the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

WARNING: this method will release all the forced variables on the connected device, including those set by other subjects / connections, for which there could be unwanted side effects.

releaseVariable()

Globals::Results releaseVariable

(

ClientStruct::ReleaseVariableData &

data

)

Release variable values on the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

Example of releasing a bit of a physical 16bit output word.

// Prepare and execute the request to release
// the bit 5 of the physical 16bit output at index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReleaseVariableData data(Variable::fromBitPhyOW16(1, 5));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->releaseVariable(data) == Globals::resSuccess)
    cout << "Variable successully released" << endl;
else
{
    cout << "Unable to release the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of releasing a logical 16bit input word.

// Prepare and execute the request to release 
// the logical 16bit input word ad index 1.
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReleaseVariableData data(Variable::fromLogIW16(1));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->releaseVariable(data) == Globals::resSuccess)
    cout << "Variable successully released" << endl;
else
{
    cout << "Unable to release the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of releasing a logical 16bit input word specified by name.

// Prepare and execute the request to release
// the bit 5 of the physical 16bit input at index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::ReleaseVariableData data(Variable::fromName("inp_w 100.5"));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
if (client->releaseVariable(data) == Globals::resSuccess)
    cout << "Variable successully released" << endl;
else
{
    cout << "Unable to release the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of releasing a logical 16bit input word specified by name and stored into the cache.

// Prepare and execute the request to release
// the bit 5 of the physical 16bit input at index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
Connection* connection;
// ... setup the connection object using your logic here ....
uint32_t cacheId = connection->addToVarsCache("inp_w 100.5");
if (cacheId != 0)
{
    // Setup the variable object using a proper helper function
    ClientStruct::ReleaseVariableData data(Variable::fromCache(cacheId));
    // Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
    //data.setSafe(ClientStruct::safeModeIfSupported);
    if (client->releaseVariable(data) == Globals::resSuccess)
        cout << "Variable successully released" << endl;
    else
    {
        cout << "Unable to release the variable:" << endl;
        if (data.nackErrCode() != Message::errCodesNoError)
            cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
    }
}

This method make use of the state and progress events.

For more information about parameter and axis parameter indexes, look at R3 Programming Language documentation, chapter Prefined Variables.

The above examples show the usage of the raccomended method to initialize a Variable object , i.e. using the factory helper function for the specific data type, but you can allocate the object by your own and set the getSingle specific parameters required for the variable data type.

See also

ClientStruct.ReleaseVariableData, Message::VarTypes

replyBusy()

Globals::Results replyBusy

(

Message *

src

)

Reply with a BUSY message to the source message.

Parameters

src	The source message.

Returns

Return the operation result code.

The reply message will be sent immediately to the connected device.

See also

Message

replyMsg()

Globals::Results replyMsg	(	Message *	src,
		Message::MsgCodes	msgCode,
		void *	data,
		uint8_t	len = 0 )

Reply with a generic message to the source message.

Parameters

src	The source message.
msgCode	The message code.
data	The message data (null=no data)
len	The message data len (0=no data)

Returns

Return the operation result code.

The reply message will be sent immediately to the connected device.

See also

Message

reportClear()

Globals::Results reportClear

(

ClientStruct::ReportClearData &

data

)

Clear user report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.ReportClearData

reportInfo()

Globals::Results reportInfo

(

ClientStruct::ReportInfoData &

data

)

Read information for user report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.ReportInfoData

reportList()

Globals::Results reportList

(

ClientStruct::ReportListData &

data

)

Read list for user report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.ReportListData

reportSetMode()

Globals::Results reportSetMode

(

ClientStruct::ReportSetModeData &

data

)

Set mode for user report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.ReportSetModeData

setAbortRequest()

void setAbortRequest ( bool value )

protected

Set the flag to abort operation.

Parameters

value

The value to set

setConnection()

void setConnection

(

Connection *

value

)

Set the Connection object.

Parameters

value

The value to set

setLocalLink()

void setLocalLink ( LocalClientLink * value )

protected

Set the LocalClientLink object.

Parameters

value

The value to set

setMaxCmdTimeout()

void setMaxCmdTimeout

(

int

value

)

Set the maximum generic command timeout [ms].

Parameters

value

The value to set

setMaxWaitTimeout()

void setMaxWaitTimeout

(

int

value

)

Set the maximum generic wait timeout [ms].

Parameters

value

The value to set

setOutQueue()

void setOutQueue ( MessageQueue * value )

protected

Set the outgoing message queue.

Parameters

value

The value to set

setSourceCh()

void setSourceCh ( uint8_t value )

virtual

Set the client source channel.

Parameters

value

The value to set

setSourceId()

void setSourceId ( uint8_t value )

virtual

Set the client source identifier.

Parameters

value

The value to set

setTargetCh()

void setTargetCh ( uint8_t value )

virtual

Set the client target channel.

Parameters

value

The value to set

setTargetId()

void setTargetId ( uint8_t value )

virtual

Set the client target identifier.

Parameters

value

The value to set

sourceCh()

uint8_t sourceCh ( )

virtual

Get the client source channel.

Returns

The parameter value

sourceId()

uint8_t sourceId ( )

virtual

Get the client source identifier.

Returns

The parameter value

sysReportClear()

Globals::Results sysReportClear

(

ClientStruct::SysReportClearData &

data

)

Clear system report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.SysReportClearData

sysReportInfo()

Globals::Results sysReportInfo

(

ClientStruct::SysReportInfoData &

data

)

Read information for system report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.SysReportInfoData

sysReportList()

Globals::Results sysReportList

(

ClientStruct::SysReportListData &

data

)

Read list for system report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.SysReportListData

sysReportSetMode()

Globals::Results sysReportSetMode

(

ClientStruct::SysReportSetModeData &

data

)

Set mode for system report.

Parameters

data	The operation data.

Returns

Return the operation result code.

This method make use of the state and progress events.

See also

Client.SysReportSetModeData

systemInfo()

Globals::Results systemInfo

(

ClientStruct::SystemInfoData &

data

)

Get the system information from the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

targetCh()

uint8_t targetCh ( )

virtual

Get the client target channel.

Returns

The parameter value

targetId()

uint8_t targetId ( )

virtual

Get the client target identifier.

Returns

The parameter value

txNumBlock()

int txNumBlock

(

ClientStruct::OperationData *

data = nullptr

)

Query the data interlocking value (trasmission)

Parameters

data	The operation data (opz)

Returns

Returns the data interlocking value

writeVariable()

Globals::Results writeVariable

(

ClientStruct::WriteVariableData &

data

)

Write variable values to the connected device.

Parameters

data	The operation data.

Returns

Return the operation result code.

Example of writing volatile real registers:

// Prepare and execute the request for writing
// 8 consecutive register starting from index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::WriteVariableData data(Variable::fromVRR(1));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
for (int i = 0; i < 8; i++)
{
    varData.setDouble(i);
    data.values().pushBack(varData);
}
 
if (client->writeVariable(data) == Globals::resSuccess)
    cout << "Variable successully written" << endl;
else
{
    cout << "Unable to write the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of writing a volatile string register:

// Prepare and execute the request for writing 
// the volatile string register at index 1
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::WriteVariableData data(Variable::fromVSR(1));
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
varData.setString("My tring to write");
data.values().pushBack(varData);
 
if (client->writeVariable(data) == Globals::resSuccess)
    cout << "Variable successully written" << endl;
else
{
    cout << "Unable to write the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of writing a real parameter:

// Prepare and execute the request for writing
// the feed rate parameter with value of 0.75.
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::WriteVariableData data(Variable::fromParamR(8)); // 8 = index of the FR real parameter
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
varData.setDouble(0.75);
data.values().pushBack(varData);
 
if (client->writeVariable(data) == Globals::resSuccess)
    cout << "Variable successully written" << endl;
else
{
    cout << "Unable to write the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of writing volatile real registers with non coherent values:

// Prepare and execute the request for writing
// 300 consecutive register starting from index 1
// Note that 300 exceeds the maximum BCC protocol specification
// so the operation will be performed only in non coherent values operation
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::WriteVariableData data(Variable::fromVRR(1));
// Setting the flag coherentValues() to true will produce an error: the default value is false
// data.setCoherentValues(true);
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
for (int i = 0; i < 300; i++)
{
    varData.setDouble(i);
    data.values().pushBack(varData);
}
 
if (client->writeVariable(data) == Globals::resSuccess)
    cout << "Variable successully written" << endl;
else
{
    cout << "Unable to write the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of writing volatile real registers specified by name:

// Prepare and execute the request for writing
// 50 consecutive register starting from index 1
// Note that 50 exceeds the maximum BCC protocol specification
// so the operation will be performed only in non coherent values operation
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
// Setup the variable object using a proper helper function
ClientStruct::WriteVariableData data(Variable::fromName("RR 1, 50"));
// Setting the flag coherentValues() to true will produce an error: the default value is false
// data.setCoherentValues(true);
// Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
//data.setSafe(ClientStruct::safeModeIfSupported);
Variable::Data varData;
for (int i = 0; i < 50; i++)
{
    varData.setDouble(i);
    data.values().pushBack(varData);
}
 
if (client->writeVariable(data) == Globals::resSuccess)
cout << "Variable successully written" << endl;
else
{
    cout << "Unable to write the variable:" << endl;
    if (data.nackErrCode() != Message::errCodesNoError)
        cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
}

Example of writing volatile integer 32bit registers specified by name and stored into the cache:

// Prepare and execute the request for caching and writing 50 consecutive 
// volatile integer 32bit registers from index 100
Client* client;              // Initialize your own client
// ... setup the client object using your logic here ....
Connection* connection;
// ... setup the connection object using your logic here ....
uint32_t cacheId = connection->addToVarsCache("R 100 ,50");
if (cacheId != 0)
{
    // Setup the variable object using a proper helper function
    ClientStruct::WriteVariableData data(Variable::fromCache(cacheId));
    // Choose a proper safe mode : defaults is ClientStruct::safeModeIfSupported;
    //data.setSafe(ClientStruct::safeModeIfSupported);
    Variable::Data varData;
    for (int i = 0; i < 50; i++)
    {
        varData.setDouble(i);
        data.values().pushBack(varData);
    }
 
    if (client->writeVariable(data) == Globals::resSuccess)
        cout << "Variable successully written" << endl;
    else
    {
        cout << "Unable to write the variable:" << endl;
        if (data.nackErrCode() != Message::errCodesNoError)
            cout << "NackErrCode = " << data.nackErrCode() << " NackErrExtra = " << data.nackErrExtra() << endl;
    }
}

This method make use of the state and progress events.

For more information about parameter and axis parameter indexes, look at R3 Programming Language documentation, chapter Prefined Variables.

The Count and AxCount attributes are not present in the ClientStruct.WriteVariableData class because they are automatically calculated based on the content of the Values list.

The ClientStruct.WriteVariableData.coherentValues() defaults to false so you can perform write operations on a number of data above the BCC protocol specification. The method will provide to send multile commands to acomplish the BCC protocol data size, so the data consistency is not guaranteed

The above examples show the usage of the raccomended method to initialize a Variable object , i.e. using the factory helper function for the specific data type, but you can allocate the object by your own and set the getSingle specific parameters required for the variable data type.

See also

ClientStruct.WriteVariableData, Message::VarTypes

Friends And Related Symbol Documentation

Connection

friend class Connection

friend

LocalClientLink

friend class LocalClientLink

friend

Monitor

friend class Monitor

friend

Oscilloscope

friend class Oscilloscope

friend

TcpIpConnection

friend class TcpIpConnection

friend

Member Data Documentation

m_commandPid

uint8_t m_commandPid

protected

Command protocol Id.

m_pidLock

std::recursive_timed_mutex m_pidLock

protected

Object to lock the m_commandPid when generating the next pid value