Lifecycle Base Driver. More...

#include <lifecycle_base_driver.hpp>

Inheritance diagram for ros2_canopen::LifecycleBaseDriver:

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Collaboration diagram for ros2_canopen::LifecycleBaseDriver:

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Public Member Functions
	LifecycleBaseDriver (rclcpp::NodeOptions node_options=rclcpp::NodeOptions())

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)

Public Member Functions inherited from ros2_canopen::LifecycleCanopenDriver
	LifecycleCanopenDriver (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.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state)
	Configure Callback.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state)
	Activate Callback.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state)
	Deactivate Callback.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state)
	Deactivate Callback.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state)
	Deactivate Callback.

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
Protected Attributes inherited from ros2_canopen::LifecycleCanopenDriver
std::shared_ptr< node_interfaces::NodeCanopenDriverInterface >	node_canopen_driver_

Detailed Description

Lifecycle Base Driver.

A very basic driver without any functionality.

Constructor & Destructor Documentation

◆ LifecycleBaseDriver()

ros2_canopen::LifecycleBaseDriver::LifecycleBaseDriver ( rclcpp::NodeOptions node_options = rclcpp::NodeOptions() )

Member Function Documentation

◆ register_nmt_state_cb()

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

inline

◆ register_rpdo_cb()

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