Lifecycle Device Manager Node. More...

#include <lifecycle_manager.hpp>

Inheritance diagram for ros2_canopen::LifecycleManager:

Collaboration diagram for ros2_canopen::LifecycleManager:

Public Member Functions
	LifecycleManager (const rclcpp::NodeOptions &node_options)
	Construct a new Lifecycle Device Manager Node object. More...

void	init (std::shared_ptr< ros2_canopen::ConfigurationManager > config)

Protected Member Functions
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state)
	Callback for the Configure Transition. More...

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state)
	Callback for the Activate Transition. More...

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state)
	Callback for the Deactivate Transition. More...

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state)
	Callback for the Cleanup Transition. More...

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state)
	Callback for the Shutdown Transition. More...

template<typename FutureT , typename WaitTimeT >
std::future_status	wait_for_result (FutureT &future, WaitTimeT time_to_wait)

virtual unsigned int	get_state (uint8_t node_id, std::chrono::seconds time_out)
	Get the lifecycle state of a driver node. More...

virtual bool	change_state (uint8_t node_id, uint8_t transition, std::chrono::seconds time_out)
	Change the lifecycle state of a driver node. More...

virtual bool	bring_up_all ()
	Brings up master and all drivers. More...

virtual bool	bring_down_all ()
	Brings down master and all drivers. More...

virtual bool	bring_up_master ()
	Brings up master. More...

virtual bool	bring_down_master ()
	Bring down master. More...

virtual bool	bring_up_driver (std::string device_name)
	Brings up the drivers with specified node_id. More...

virtual bool	bring_down_driver (std::string device_name)
	Brings down the driver with specified node_id. More...

virtual bool	load_from_config ()
	Load information from configuration. More...

Protected Attributes
rclcpp::CallbackGroup::SharedPtr	cbg_clients

std::shared_ptr< ros2_canopen::ConfigurationManager >	config_

std::map< uint8_t, rclcpp::Client< lifecycle_msgs::srv::GetState >::SharedPtr >	drivers_get_state_clients
	stores node_id and get_state client More...

std::map< uint8_t, rclcpp::Client< lifecycle_msgs::srv::ChangeState >::SharedPtr >	drivers_change_state_clients
	stores node_id and change_state client More...

std::map< std::string, uint8_t >	device_names_to_ids

rclcpp::Client< canopen_interfaces::srv::CONode >::SharedPtr	add_driver_client_
	Service client object for adding a driver. More...

rclcpp::Client< canopen_interfaces::srv::CONode >::SharedPtr	remove_driver_client_
	Service client object for removing a driver. More...

uint8_t	master_id_
	Stores master id. More...

std::string	container_name_
	Stores name of the associated device_container. More...

Detailed Description

Lifecycle Device Manager Node.

This class provides functionalities to coordinate the lifecycle of master and device drivers that are loaded into the executor.

Start-up sequence

| active | | x | x | x | x | x |...

drv1 | unconfigured | x | x | x | | inactive | | x |

| active | | x | x | x |...

driv2 | unconfigured | x | x | x | x | x | | inactive | | x |

| active | | x |...

Constructor & Destructor Documentation

◆ LifecycleManager()

ros2_canopen::LifecycleManager::LifecycleManager ( const rclcpp::NodeOptions & node_options )

inline

Construct a new Lifecycle Device Manager Node object.

Parameters

node_options

Member Function Documentation

◆ init()

void ros2_canopen::LifecycleManager::init ( std::shared_ptr< ros2_canopen::ConfigurationManager > config )

◆ on_configure()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ros2_canopen::LifecycleManager::on_configure ( const rclcpp_lifecycle::State & state )

protected

Callback for the Configure Transition.

This will cause the device manager to load the configuration from the configuration file.

Parameters

state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

◆ on_activate()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ros2_canopen::LifecycleManager::on_activate ( const rclcpp_lifecycle::State & state )

protected

Callback for the Activate Transition.

This will bringup master and device drivers using the bring_up_all function.

Parameters

state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

◆ on_deactivate()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ros2_canopen::LifecycleManager::on_deactivate ( const rclcpp_lifecycle::State & state )

protected

Callback for the Deactivate Transition.

This will bring down master and device drivers using the bring_down_all function.

Parameters

state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

◆ on_cleanup()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ros2_canopen::LifecycleManager::on_cleanup ( const rclcpp_lifecycle::State & state )

protected

Callback for the Cleanup Transition.

Does nothing.

Parameters

state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

◆ on_shutdown()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ros2_canopen::LifecycleManager::on_shutdown ( const rclcpp_lifecycle::State & state )

protected

Callback for the Shutdown Transition.

Does nothing.

Parameters

state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

◆ wait_for_result()

template<typename FutureT , typename WaitTimeT >

std::future_status ros2_canopen::LifecycleManager::wait_for_result	(	FutureT &	future,
		WaitTimeT	time_to_wait
	)

inlineprotected

◆ get_state()

virtual unsigned int ros2_canopen::LifecycleManager::get_state	(	uint8_t	node_id,
		std::chrono::seconds	time_out
	)

protectedvirtual

Get the lifecycle state of a driver node.

Parameters

[in]	node_id
[in]	time_out

Returns: unsigned int

◆ change_state()

virtual bool ros2_canopen::LifecycleManager::change_state	(	uint8_t	node_id,
		uint8_t	transition,
		std::chrono::seconds	time_out
	)

protectedvirtual

Change the lifecycle state of a driver node.

Parameters

[in]	node_id	CANopen node id of the driver
[in]	transition	Lifecycle transition to trigger
[in]	time_out	Timeout

Returns: true; false

◆ bring_up_all()

virtual bool ros2_canopen::LifecycleManager::bring_up_all ( )

protectedvirtual

Brings up master and all drivers.

This funnnction brings up the CANopen master and all drivers that are defined in the configuration. The order of bringing up drivers is arbitrary.

Returns: true; false

◆ bring_down_all()

virtual bool ros2_canopen::LifecycleManager::bring_down_all ( )

protectedvirtual

Brings down master and all drivers.

This funnnction brings up the CANopen master and all drivers that are defined in the configuration. First all drivers are brought down, then the master.

Returns: true; false

◆ bring_up_master()

virtual bool ros2_canopen::LifecycleManager::bring_up_master ( )

protectedvirtual

Brings up master.

This function brings up the CANopen master. The master transitioned twice, first the configure transition is triggered. Once the transition is successfully finished, the activate transition is triggered.

Returns: true; false

◆ bring_down_master()

virtual bool ros2_canopen::LifecycleManager::bring_down_master ( )

protectedvirtual

Bring down master.

This function brrignsdown the CANopen master. The master transitioned twice, first the deactivate transition is triggered. Once the transition is successfully finished, the cleanup transition is triggered.

Returns: true; false

◆ bring_up_driver()

virtual bool ros2_canopen::LifecycleManager::bring_up_driver ( std::string device_name )

protectedvirtual

Brings up the drivers with specified node_id.

This function bringsup the CANopen driver for the device with the specified node_id. The driver is transitioned twice, first the configure transition is triggered. Once the transition is successfully finished, the activate transition is triggered.

Parameters

device_name

Returns: true; false

◆ bring_down_driver()

virtual bool ros2_canopen::LifecycleManager::bring_down_driver ( std::string device_name )

protectedvirtual

Brings down the driver with specified node_id.

This function brings down the CANopen driver for the device with the specified node_id. The driver is transitioned twice, first the deactivate transition is triggered. Once the transition is successfully finished, the cleanup transition is triggered.

Parameters

device_name

Returns: true; false

◆ load_from_config()

virtual bool ros2_canopen::LifecycleManager::load_from_config ( )

protectedvirtual

Load information from configuration.

This function loads the information about the CANopen Bus specified in the configuration file and creates the necessary ROS2 services and clients.

Returns: true; false

Member Data Documentation

◆ cbg_clients

rclcpp::CallbackGroup::SharedPtr ros2_canopen::LifecycleManager::cbg_clients

protected

◆ config_

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

protected

◆ drivers_get_state_clients

std::map<uint8_t, rclcpp::Client<lifecycle_msgs::srv::GetState>::SharedPtr> ros2_canopen::LifecycleManager::drivers_get_state_clients

protected

stores node_id and get_state client

◆ drivers_change_state_clients

std::map<uint8_t, rclcpp::Client<lifecycle_msgs::srv::ChangeState>::SharedPtr> ros2_canopen::LifecycleManager::drivers_change_state_clients

protected

stores node_id and change_state client

◆ device_names_to_ids

std::map<std::string, uint8_t> ros2_canopen::LifecycleManager::device_names_to_ids

protected

◆ add_driver_client_

rclcpp::Client<canopen_interfaces::srv::CONode>::SharedPtr ros2_canopen::LifecycleManager::add_driver_client_

protected

Service client object for adding a driver.

Todo:: Remove relicts?

◆ remove_driver_client_

rclcpp::Client<canopen_interfaces::srv::CONode>::SharedPtr ros2_canopen::LifecycleManager::remove_driver_client_

protected

Service client object for removing a driver.

◆ master_id_

uint8_t ros2_canopen::LifecycleManager::master_id_

protected

Stores master id.

◆ container_name_

std::string ros2_canopen::LifecycleManager::container_name_

protected

Stores name of the associated device_container.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Start-up sequence

| active | | x | x | x | x | x |...

| active | | x | x | x |...

| active | | x |...

Constructor & Destructor Documentation

◆ LifecycleManager()

Member Function Documentation

◆ init()

◆ on_configure()

◆ on_activate()

◆ on_deactivate()

◆ on_cleanup()

◆ on_shutdown()

◆ wait_for_result()

◆ get_state()

◆ change_state()

◆ bring_up_all()

◆ bring_down_all()

◆ bring_up_master()

◆ bring_down_master()

◆ bring_up_driver()

◆ bring_down_driver()

◆ load_from_config()

Member Data Documentation

◆ cbg_clients

◆ config_

◆ drivers_get_state_clients

◆ drivers_change_state_clients

◆ device_names_to_ids

◆ add_driver_client_

◆ remove_driver_client_

◆ master_id_

◆ container_name_