Canopen Driver. More...
#include <driver_node.hpp>
Public Member Functions | |
| CanopenDriver (const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions()) | |
| virtual void | init () override |
| Initialise the driver. More... | |
| virtual void | set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master) override |
| Set the master object. More... | |
| virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_base_interface () override |
| Get the node base interface object. More... | |
| virtual void | shutdown () override |
| Shutdown the driver. More... | |
| virtual bool | is_lifecycle () override |
| Check whether this is a LifecycleNode. More... | |
| virtual std::shared_ptr< node_interfaces::NodeCanopenDriverInterface > | get_node_canopen_driver_interface () |
| Get the node canopen driver interface object. More... | |
Public Attributes | |
| std::shared_ptr< node_interfaces::NodeCanopenDriverInterface > | node_canopen_driver_ |
Detailed Description
Canopen Driver.
This provides a class, that driver nodes that are based on rclcpp::Node should be derived of. This class implements the ros2_canopen::CanopenDriverInterface.
Constructor & Destructor Documentation
◆ CanopenDriver()
|
inlineexplicit |
Member Function Documentation
◆ init()
|
overridevirtual |
Initialise the driver.
This function will activate the driver using the instantiated node_canopen_driver_. It will call the init, configure, demand_set_master and activate of the NodeCanopenDriverInterface. If the function finishes without exception, the driver is activated and ready for use.
Implements ros2_canopen::CanopenDriverInterface.
◆ set_master()
|
overridevirtual |
Set the master object.
This function will set the Canopen Master Objects that are necessary for the driver to be instantiated. It will be called by the device container when the init_driver service is invoked.
- Parameters
-
exec master
Implements ros2_canopen::CanopenDriverInterface.
◆ get_node_base_interface()
|
inlineoverridevirtual |
Get the node base interface object.
This function shall return an rclcpp::node_interfaces::NodeBaseInterface::SharedPtr. The pointer will be used to add the driver node to the executor.
- Returns
- rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
Implements ros2_canopen::CanopenDriverInterface.
◆ shutdown()
|
overridevirtual |
Shutdown the driver.
This function will shutdown the driver by calling the shutdown() function of node_canopen_driver_.
Implements ros2_canopen::CanopenDriverInterface.
◆ is_lifecycle()
|
inlineoverridevirtual |
Check whether this is a LifecycleNode.
- Returns
- false
Implements ros2_canopen::CanopenDriverInterface.
◆ get_node_canopen_driver_interface()
|
inlinevirtual |
Get the node canopen driver interface object.
This function gives access to the underlying NodeCanopenDriverInterface.
- Returns
- std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
Implements ros2_canopen::CanopenDriverInterface.
Member Data Documentation
◆ node_canopen_driver_
| std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> ros2_canopen::CanopenDriver::node_canopen_driver_ |
The documentation for this class was generated from the following file:
- /home/runner/work/ros2_canopen/ros2_canopen/canopen_core/include/canopen_core/driver_node.hpp
