Lifecycle Device Container for CANopen. More...

#include <device_container.hpp>

Inheritance diagram for ros2_canopen::DeviceContainer:

Collaboration diagram for ros2_canopen::DeviceContainer:

Public Member Functions
	DeviceContainer (std::weak_ptr< rclcpp::Executor > executor=std::weak_ptr< rclcpp::executors::MultiThreadedExecutor >(), std::string node_name="device_container", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions())
	Construct a new Lifecycle Device Container Node object. More...

void	init ()
	Executes the initialisation. More...

void	init (const std::string &can_interface_name, const std::string &master_config, const std::string &bus_config, const std::string &master_bin="")
	Executes the initialisation. More...

virtual void	configure ()

virtual bool	load_drivers ()
	Loads drivers from configuration. More...

virtual bool	load_master ()
	Loads master from configuration. More...

virtual bool	load_manager ()
	Loads the device manager. More...

virtual bool	load_component (std::string &package_name, std::string &driver_name, uint16_t node_id, std::string &node_name, std::vector< rclcpp::Parameter > &params)
	Load a component. More...

virtual void	shutdown ()
	Shutdown all devices. More...

virtual void	on_list_nodes (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< ListNodes::Request > request, std::shared_ptr< ListNodes::Response > response) override
	Callback for the listing service. More...

virtual std::map< uint16_t, std::shared_ptr< CanopenDriverInterface > >	get_registered_drivers ()
	Get the registered drivers object. More...

virtual size_t	count_drivers ()
	Get the number of registered drivers. More...

std::vector< uint16_t >	get_ids_of_drivers_with_type (std::string type)
	Get node ids of all drivers with type. More...

std::string	get_driver_type (uint16_t id)
	Get the type of driver by node id. More...

Protected Member Functions
void	set_executor (const std::weak_ptr< rclcpp::Executor > executor)
	Set the ROS executor object. More...

bool	init_driver (uint16_t node_id)
	Initialises a driver. More...

void	on_init_driver (const canopen_interfaces::srv::CONode::Request::SharedPtr request, canopen_interfaces::srv::CONode::Response::SharedPtr response)
	Callback for init driver service. More...

std::map< uint16_t, std::string >	list_components ()
	Returns a list of components. More...

virtual void	add_node_to_executor (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_interface)
	Add node to executor. More...

Protected Attributes
std::map< uint16_t, std::shared_ptr< CanopenDriverInterface > >	registered_drivers_
	Map of drivers registered in busconfiguration. Name is key. More...

std::shared_ptr< ros2_canopen::CanopenMasterInterface >	can_master_
	Pointer to can master instance. More...

uint16_t	can_master_id_

std::unique_ptr< ros2_canopen::LifecycleManager >	lifecycle_manager_

std::shared_ptr< ros2_canopen::ConfigurationManager >	config_
	Pointer to configuration manager instance. More...

std::string	dcf_txt_
	Cached value of .dcf file parameter. More...

std::string	bus_config_
	Cached value of bus.yml file parameter. More...

std::string	dcf_bin_
	Cached value of .bin file parameter. More...

std::string	can_interface_name_
	Cached value of can interface name. More...

bool	lifecycle_operation_

std::weak_ptr< rclcpp::Executor >	executor_
	Pointer to ros executor instance. More...

rclcpp::Service< canopen_interfaces::srv::CONode >::SharedPtr	init_driver_service_
	Service object for init_driver service. More...

rclcpp::CallbackGroup::SharedPtr	client_cbg_
	Callback group for services. More...

Detailed Description

Lifecycle Device Container for CANopen.

This class provides the functionality for loading a the CANopen Master and CANopen Device Drivers based on the Configuration Files. Configuration files need to be passed in as parameters.

Constructor & Destructor Documentation

◆ DeviceContainer()

ros2_canopen::DeviceContainer::DeviceContainer	(	std::weak_ptr< rclcpp::Executor >	executor = `std::weak_ptr<rclcpp::executors::MultiThreadedExecutor>()`,
		std::string	node_name = `"device_container"`,
		const rclcpp::NodeOptions &	node_options = `rclcpp::NodeOptions()`
	)

inline

Construct a new Lifecycle Device Container Node object.

Parameters

[in]	executor	The executor to add loaded master and devices to.
[in]	node_name	The name of the node
[in]	node_options	Passed to the device_container node

Member Function Documentation

◆ init() [1/2]

void ros2_canopen::DeviceContainer::init ( )

Executes the initialisation.

This will read nodes parameters and initialize the configuration defined in the parameters. It will also start loading the components.

Returns: true; false

◆ init() [2/2]

void ros2_canopen::DeviceContainer::init	(	const std::string &	can_interface_name,
		const std::string &	master_config,
		const std::string &	bus_config,
		const std::string &	master_bin = `""`
	)

Executes the initialisation.

Same as init() only that ros parameters are not used.

Parameters

can_interface_name
master_config
bus_config
master_bin

◆ configure()

virtual void ros2_canopen::DeviceContainer::configure ( )

virtual

◆ load_drivers()

virtual bool ros2_canopen::DeviceContainer::load_drivers ( )

virtual

Loads drivers from configuration.

Returns: true; false

◆ load_master()

virtual bool ros2_canopen::DeviceContainer::load_master ( )

virtual

Loads master from configuration.

Returns: true; false

◆ load_manager()

virtual bool ros2_canopen::DeviceContainer::load_manager ( )

virtual

Loads the device manager.

Returns: true; false

◆ load_component()

virtual bool ros2_canopen::DeviceContainer::load_component	(	std::string &	package_name,
		std::string &	driver_name,
		uint16_t	node_id,
		std::string &	node_name,
		std::vector< rclcpp::Parameter > &	params
	)

virtual

Load a component.

Parameters

[in]	package_name	Name of the package
[in]	driver_name	Name of the driver class to load
[in]	node_id	CANopen node id of the target device
[in]	node_name	Node name of the ROS node

Returns: true; false

◆ shutdown()

virtual void ros2_canopen::DeviceContainer::shutdown ( )

inlinevirtual

Shutdown all devices.

This function will shutdown all devices that were created. The function calls the shutdown function of each created device.

◆ on_list_nodes()

virtual void ros2_canopen::DeviceContainer::on_list_nodes	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< ListNodes::Request >	request,
		std::shared_ptr< ListNodes::Response >	response
	)

overridevirtual

Callback for the listing service.

Parameters

request_header
request
response

◆ get_registered_drivers()

virtual std::map<uint16_t, std::shared_ptr<CanopenDriverInterface> > ros2_canopen::DeviceContainer::get_registered_drivers ( )

inlinevirtual

Get the registered drivers object.

This function will return a map of all driver objects that were created. The returned map can be queried by node id.

Returns: std::map<uint16_t, std::shared_ptr<CanopenDriverInterface>>

◆ count_drivers()

virtual size_t ros2_canopen::DeviceContainer::count_drivers ( )

inlinevirtual

Get the number of registered drivers.

Returns: size_t

◆ get_ids_of_drivers_with_type()

std::vector<uint16_t> ros2_canopen::DeviceContainer::get_ids_of_drivers_with_type ( std::string type )

inline

Get node ids of all drivers with type.

This function gets the ids of all drivers that have the passed in type. The type must be the fully qualified class name of the driver as string.

Parameters

[in] type

Returns: std::vector<uint16_t>

◆ get_driver_type()

std::string ros2_canopen::DeviceContainer::get_driver_type ( uint16_t id )

inline

Get the type of driver by node id.

This function will return the type of the driver that is registered for the passed node ids.

Parameters

[in] id

Returns: std::string

◆ set_executor()

void ros2_canopen::DeviceContainer::set_executor ( const std::weak_ptr< rclcpp::Executor > executor )

protected

Set the ROS executor object.

Parameters

[in] executor Pointer to the Executor

◆ init_driver()

bool ros2_canopen::DeviceContainer::init_driver ( uint16_t node_id )

protected

Initialises a driver.

This function needs to be called before a driver can be added to the CANopen Master Event Loop. It sets the master and executor, the driver will be added to.

Parameters

node_id CANopen node id of the target device

Returns: true; false

◆ on_init_driver()

void ros2_canopen::DeviceContainer::on_init_driver	(	const canopen_interfaces::srv::CONode::Request::SharedPtr	request,
		canopen_interfaces::srv::CONode::Response::SharedPtr	response
	)

inlineprotected

Callback for init driver service.

Parameters

request
response

◆ list_components()

std::map<uint16_t, std::string> ros2_canopen::DeviceContainer::list_components ( )

protected

Returns a list of components.

Returns: std::map<uint16_t, std::string>

◆ add_node_to_executor()

virtual void ros2_canopen::DeviceContainer::add_node_to_executor ( rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_interface )

inlineprotectedvirtual

Add node to executor.

Parameters

[in] node_interface NodeBaseInterface of the node that should be added to the executor.

Member Data Documentation

◆ registered_drivers_

std::map<uint16_t, std::shared_ptr<CanopenDriverInterface> > ros2_canopen::DeviceContainer::registered_drivers_

protected

Map of drivers registered in busconfiguration. Name is key.

◆ can_master_

std::shared_ptr<ros2_canopen::CanopenMasterInterface> ros2_canopen::DeviceContainer::can_master_

protected

Pointer to can master instance.

◆ can_master_id_

uint16_t ros2_canopen::DeviceContainer::can_master_id_

protected

◆ lifecycle_manager_

std::unique_ptr<ros2_canopen::LifecycleManager> ros2_canopen::DeviceContainer::lifecycle_manager_

protected

◆ config_

std::shared_ptr<ros2_canopen::ConfigurationManager> ros2_canopen::DeviceContainer::config_

protected

Pointer to configuration manager instance.

◆ dcf_txt_

std::string ros2_canopen::DeviceContainer::dcf_txt_

protected

Cached value of .dcf file parameter.

◆ bus_config_

std::string ros2_canopen::DeviceContainer::bus_config_

protected

Cached value of bus.yml file parameter.

◆ dcf_bin_

std::string ros2_canopen::DeviceContainer::dcf_bin_

protected

Cached value of .bin file parameter.

◆ can_interface_name_

std::string ros2_canopen::DeviceContainer::can_interface_name_

protected

Cached value of can interface name.

◆ lifecycle_operation_

bool ros2_canopen::DeviceContainer::lifecycle_operation_

protected

◆ executor_

std::weak_ptr<rclcpp::Executor> ros2_canopen::DeviceContainer::executor_

protected

Pointer to ros executor instance.

◆ init_driver_service_

rclcpp::Service<canopen_interfaces::srv::CONode>::SharedPtr ros2_canopen::DeviceContainer::init_driver_service_

protected

Service object for init_driver service.

◆ client_cbg_

rclcpp::CallbackGroup::SharedPtr ros2_canopen::DeviceContainer::client_cbg_

protected

Callback group for services.

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

/home/runner/work/ros2_canopen/ros2_canopen/canopen_core/include/canopen_core/device_container.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DeviceContainer()

Member Function Documentation

◆ init() [1/2]

◆ init() [2/2]

◆ configure()

◆ load_drivers()

◆ load_master()

◆ load_manager()

◆ load_component()

◆ shutdown()

◆ on_list_nodes()

◆ get_registered_drivers()

◆ count_drivers()

◆ get_ids_of_drivers_with_type()

◆ get_driver_type()

◆ set_executor()

◆ init_driver()

◆ on_init_driver()

◆ list_components()

◆ add_node_to_executor()

Member Data Documentation

◆ registered_drivers_

◆ can_master_

◆ can_master_id_

◆ lifecycle_manager_

◆ config_

◆ dcf_txt_

◆ bus_config_

◆ dcf_bin_

◆ can_interface_name_

◆ lifecycle_operation_

◆ executor_

◆ init_driver_service_

◆ client_cbg_