ICanOpenSafetyInspection Interface¶
Optional tool-side read-only inspection without widening published ICanOpenSafety.
Methods¶
ICanOpenSafetyInspection.ReadPeerSafetyConfigurationAsync(byte, PeerSafetyConfiguration, CancellationToken) Method¶
Uploads a bounded safety configuration image and repeats its entries to detect observed changes. Requires a bound peer EDS/DCF for access validation; an expected target DCF/configuration is optional. Holds this client's peer-SDO channel for the whole acquisition, snapshots the bound description and expectation once that channel is held, and sends no downloads or state commands.
System.Threading.Tasks.Task<CanKit.Pro.CANopen.Safety.PeerSafetySnapshot> ReadPeerSafetyConfigurationAsync(byte peerNodeId, CanKit.Pro.CANopen.Safety.PeerSafetyConfiguration? expected=null, System.Threading.CancellationToken cancellationToken=default(System.Threading.CancellationToken));
Parameters¶
peerNodeId Byte
expected PeerSafetyConfiguration
cancellationToken CancellationToken
Returns¶
Exceptions¶
PeerSdoAccessException
No peer description is bound; refused before any frame.
Remarks¶
Read failures become entry findings and explicit file/default provenance where available. Cancellation/disposal propagate rather than returning a completed partial acquisition. Repeated identical reads cannot establish atomic consistency: another tool/device task may still edit the peer. Unknown/unsupported entries are reported without changing its state. No safety approval.