Canopen Driver Interface. More...
#include <driver_node.hpp>
Public Member Functions | |
| virtual void | init ()=0 |
| Initialise the driver. More... | |
| virtual void | set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master)=0 |
| Set the master object. More... | |
| virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_base_interface ()=0 |
| Get the node base interface object. More... | |
| virtual void | shutdown ()=0 |
| Shutdown the driver. More... | |
| virtual bool | is_lifecycle ()=0 |
| Check whether this is a LifecycleNode. More... | |
| virtual std::shared_ptr< node_interfaces::NodeCanopenDriverInterface > | get_node_canopen_driver_interface ()=0 |
| Get the node canopen driver interface object. More... | |
Detailed Description
Canopen Driver Interface.
This provides an interface that all driver nodes that are loaded by ros2_canopen::DeviceContainer need to implement.
Member Function Documentation
◆ init()
|
pure virtual |
Initialise the driver.
This function will initialise the drivers functionalities. It will be called by the device_container when the node has been added to the executor.
Implemented in ros2_canopen::LifecycleCanopenDriver, and ros2_canopen::CanopenDriver.
◆ set_master()
|
pure virtual |
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
Implemented in ros2_canopen::LifecycleCanopenDriver, and ros2_canopen::CanopenDriver.
◆ get_node_base_interface()
|
pure virtual |
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
Implemented in ros2_canopen::LifecycleCanopenDriver, and ros2_canopen::CanopenDriver.
◆ shutdown()
|
pure virtual |
Shutdown the driver.
This function will shutdown the driver and will especially join all threads to enable a clean shutdown.
Implemented in ros2_canopen::LifecycleCanopenDriver, and ros2_canopen::CanopenDriver.
◆ is_lifecycle()
|
pure virtual |
Check whether this is a LifecycleNode.
This function provides runtime information on whether the driver is a lifecycle driver or not.
- Returns
- true
- false
Implemented in ros2_canopen::LifecycleCanopenDriver, and ros2_canopen::CanopenDriver.
◆ get_node_canopen_driver_interface()
|
pure virtual |
Get the node canopen driver interface object.
This function gives access to the underlying NodeCanopenDriverInterface.
- Returns
- std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
Implemented in ros2_canopen::LifecycleCanopenDriver, and ros2_canopen::CanopenDriver.
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
