ros2_canopen::Cia402Driver Class Reference

Abstract Class for a CANopen Device Node. More...

#include <cia402_driver.hpp>

Inheritance diagram for ros2_canopen::Cia402Driver:

Collaboration diagram for ros2_canopen::Cia402Driver:

Public Member Functions
	Cia402Driver (rclcpp::NodeOptions node_options=rclcpp::NodeOptions())
virtual bool	reset_node_nmt_command ()
virtual bool	start_node_nmt_command ()
virtual bool	tpdo_transmit (ros2_canopen::COData &data)
virtual bool	sdo_write (ros2_canopen::COData &data)
virtual bool	sdo_read (ros2_canopen::COData &data)
void	register_nmt_state_cb (std::function< void(canopen::NmtState, uint8_t)> nmt_state_cb)
void	register_rpdo_cb (std::function< void(COData, uint8_t)> rpdo_cb)
double	get_speed ()
double	get_position ()
bool	set_target (double target)
bool	init_motor ()
bool	recover_motor ()
bool	halt_motor ()
uint16_t	get_mode ()
bool	set_operation_mode (uint16_t mode)
Public Member Functions inherited from ros2_canopen::CanopenDriver
	CanopenDriver (const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions())
virtual void	init () override
	Initialise the driver.
virtual void	set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master) override
	Set the master object.
virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface () override
	Get the node base interface object.
virtual void	shutdown () override
	Shutdown the driver.
virtual bool	is_lifecycle () override
	Check whether this is a LifecycleNode.
virtual std::shared_ptr< node_interfaces::NodeCanopenDriverInterface >	get_node_canopen_driver_interface ()
	Get the node canopen driver interface object.

Additional Inherited Members
Public Attributes inherited from ros2_canopen::CanopenDriver
std::shared_ptr< node_interfaces::NodeCanopenDriverInterface >	node_canopen_driver_

Detailed Description

Abstract Class for a CANopen Device Node.

This class provides the base functionality for creating a CANopen device node. It provides callbacks for nmt and rpdo.

Constructor & Destructor Documentation

Cia402Driver()

ros2_canopen::Cia402Driver::Cia402Driver

(

rclcpp::NodeOptions

node_options = rclcpp::NodeOptions()

)

Member Function Documentation

reset_node_nmt_command()

virtual bool ros2_canopen::Cia402Driver::reset_node_nmt_command ( )

inlinevirtual

start_node_nmt_command()

virtual bool ros2_canopen::Cia402Driver::start_node_nmt_command ( )

inlinevirtual

tpdo_transmit()

virtual bool ros2_canopen::Cia402Driver::tpdo_transmit ( ros2_canopen::COData &  data )

inlinevirtual

sdo_write()

virtual bool ros2_canopen::Cia402Driver::sdo_write ( ros2_canopen::COData &  data )

inlinevirtual

sdo_read()

virtual bool ros2_canopen::Cia402Driver::sdo_read ( ros2_canopen::COData &  data )

inlinevirtual

register_nmt_state_cb()

void ros2_canopen::Cia402Driver::register_nmt_state_cb ( std::function< void(canopen::NmtState, uint8_t)>  nmt_state_cb )

inline

register_rpdo_cb()

void ros2_canopen::Cia402Driver::register_rpdo_cb ( std::function< void(COData, uint8_t)>  rpdo_cb )

inline

get_speed()

double ros2_canopen::Cia402Driver::get_speed ( )

inline

get_position()

double ros2_canopen::Cia402Driver::get_position ( )

inline

set_target()

bool ros2_canopen::Cia402Driver::set_target ( double  target )

inline

init_motor()

bool ros2_canopen::Cia402Driver::init_motor ( )

inline

recover_motor()

bool ros2_canopen::Cia402Driver::recover_motor ( )

inline

halt_motor()

bool ros2_canopen::Cia402Driver::halt_motor ( )

inline

get_mode()

uint16_t ros2_canopen::Cia402Driver::get_mode ( )

inline

set_operation_mode()

bool ros2_canopen::Cia402Driver::set_operation_mode ( uint16_t  mode )

inline

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The documentation for this class was generated from the following file:

• /home/runner/work/ros2_canopen/ros2_canopen/canopen_402_driver/include/canopen_402_driver/cia402_driver.hpp