Canopen Master Interface. More...
#include <master_node.hpp>
Public Member Functions | |
| virtual void | init ()=0 |
| Initialise the master. More... | |
| virtual void | shutdown ()=0 |
| Shutdown the driver. More... | |
| virtual std::shared_ptr< lely::canopen::AsyncMaster > | get_master ()=0 |
| Get the master object. More... | |
| virtual std::shared_ptr< lely::ev::Executor > | get_executor ()=0 |
| Get the executor object. More... | |
| virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr | get_node_base_interface ()=0 |
| Get the node base interface object. More... | |
| virtual bool | is_lifecycle ()=0 |
| Check whether the node is a lifecycle node. More... | |
Detailed Description
Canopen Master Interface.
This class provides the interface that all master's that are loaded by the device container need to implement.
Member Function Documentation
◆ init()
|
pure virtual |
Initialise the master.
This function should initialise the master's functionality. It will be called by the device container after the node was added to the ros executor.
Implemented in ros2_canopen::LifecycleCanopenMaster, and ros2_canopen::CanopenMaster.
◆ shutdown()
|
pure virtual |
Shutdown the driver.
This function should shutdown all functionality and make sure that the master will exit cleanly. It will be called by the device container before exiting.
Implemented in ros2_canopen::LifecycleCanopenMaster, and ros2_canopen::CanopenMaster.
◆ get_master()
|
pure virtual |
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>
Implemented in ros2_canopen::LifecycleCanopenMaster, and ros2_canopen::CanopenMaster.
◆ get_executor()
|
pure virtual |
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>
Implemented in ros2_canopen::LifecycleCanopenMaster, and ros2_canopen::CanopenMaster.
◆ get_node_base_interface()
|
pure virtual |
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
Implemented in ros2_canopen::LifecycleCanopenMaster, and ros2_canopen::CanopenMaster.
◆ is_lifecycle()
|
pure virtual |
Check whether the node is a lifecycle node.
- Returns
- true
- false
Implemented in ros2_canopen::LifecycleCanopenMaster, and ros2_canopen::CanopenMaster.
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
