Canopen Master. More...
#include <master_node.hpp>
Public Member Functions | |
| CanopenMaster (const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions()) | |
| virtual void | init () override |
| Initialises the driver. More... | |
| virtual void | shutdown () override |
| Shuts the master down. More... | |
| virtual std::shared_ptr< lely::canopen::AsyncMaster > | get_master () override |
| Get the master object. More... | |
| virtual std::shared_ptr< lely::ev::Executor > | get_executor () override |
| Get the executor object. More... | |
| virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_base_interface () override |
| Get the node base interface object. More... | |
| virtual bool | is_lifecycle () |
| Check whether the node is a lifecycle node. More... | |
Public Attributes | |
| std::shared_ptr< node_interfaces::NodeCanopenMasterInterface > | node_canopen_master_ |
Detailed Description
Canopen Master.
This class implements the Canopen Master Interface and is derived from rclcpp::Node. All unmanaged master nodes should inherit from this class.
Constructor & Destructor Documentation
◆ CanopenMaster()
|
inlineexplicit |
Member Function Documentation
◆ init()
|
overridevirtual |
Initialises the driver.
This function initialises the driver. It is called by the device container after adding the node to the ros executor. This function uses the NodeCanopenMasterInterface. It will call init(), configure() and activate(). If this function does not throw, the driver is successfully initialised and ready to be used.
Implements ros2_canopen::CanopenMasterInterface.
◆ shutdown()
|
overridevirtual |
Shuts the master down.
This function is called by the device container before exiting, it should enable a clean exit of the master and especially join all threads. It will call the shutdown() function of the NodeCanopenMasterInterface object associated with this class.
Implements ros2_canopen::CanopenMasterInterface.
◆ get_master()
|
overridevirtual |
Get the master object.
This function should return the lely master object. It should throw a ros2_canopen::MasterException if the master object was not yet set.
- Returns
- std::shared_ptr<lely::canopen::AsyncMaster>
Implements ros2_canopen::CanopenMasterInterface.
◆ get_executor()
|
overridevirtual |
Get the executor object.
This function gets the lely executor object. It should throw a ros2_canopen::MasterException if the executor object is not yet instantiated.
- Returns
- std::shared_ptr<lely::ev::Executor>
Implements ros2_canopen::CanopenMasterInterface.
◆ get_node_base_interface()
|
inlineoverridevirtual |
Get the node base interface object.
This function should return the NodeBaseInterface of the associated ROS node. This is used by device container to add the master to the ros executor.
- Returns
- rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
Implements ros2_canopen::CanopenMasterInterface.
◆ is_lifecycle()
|
inlinevirtual |
Check whether the node is a lifecycle node.
- Returns
- false
Implements ros2_canopen::CanopenMasterInterface.
Member Data Documentation
◆ node_canopen_master_
| std::shared_ptr<node_interfaces::NodeCanopenMasterInterface> ros2_canopen::CanopenMaster::node_canopen_master_ |
The documentation for this class was generated from the following file:
- /home/runner/work/ros2_canopen/ros2_canopen/canopen_core/include/canopen_core/master_node.hpp
