#include <node_canopen_base_driver.hpp>

Inheritance diagram for ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >:

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Collaboration diagram for ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >:

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Public Member Functions
	NodeCanopenBaseDriver (NODETYPE *node)

virtual	~NodeCanopenBaseDriver ()

virtual void	init (bool called_from_base)
	Initialises the driver.

virtual void	configure (bool called_from_base)
	Configure the driver.

virtual void	activate (bool called_from_base)
	Activates the driver.

virtual void	deactivate (bool called_from_base)
	Deactivates the driver.

virtual void	cleanup (bool called_from_base)
	Cleanup the driver.

virtual void	shutdown (bool called_from_base)
	Shuts down the driver.

virtual void	add_to_master ()
	Add the driver to master.

virtual void	remove_from_master ()
	Remove the driver from master.

void	register_nmt_state_cb (std::function< void(canopen::NmtState, uint8_t)> nmt_state_cb)
	Register a callback for NMT state change.

void	register_rpdo_cb (std::function< void(COData, uint8_t)> rpdo_cb)
	Register a callback for RPDO.

void	register_emcy_cb (std::function< void(COEmcy, uint8_t)> emcy_cb)
	Register a callback for EMCY.

Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >
	NodeCanopenDriver (NODETYPE *node)

virtual void	set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master)
	Set Master.

void	init ()
	Initialise the driver.

void	configure ()
	Configure the driver.

void	activate ()
	Activate the driver.

void	deactivate ()
	Deactivate the driver.

void	cleanup ()
	Cleanup the driver.

void	shutdown ()
	Shutdown the driver.

virtual void	demand_set_master ()
	Demand set Master.

Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenDriverInterface
	NodeCanopenDriverInterface ()

Protected Member Functions
virtual void	poll_timer_callback ()

void	nmt_listener ()

virtual void	on_nmt (canopen::NmtState nmt_state)

void	rdpo_listener ()

virtual void	on_rpdo (COData data)

void	emcy_listener ()

virtual void	on_emcy (COEmcy emcy)

virtual void	diagnostic_callback (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Attributes
std::thread	nmt_state_publisher_thread_

std::thread	rpdo_publisher_thread_

std::thread	emcy_publisher_thread_

std::mutex	driver_mutex_

std::shared_ptr< ros2_canopen::LelyDriverBridge >	lely_driver_

uint32_t	period_ms_

int	sdo_timeout_ms_

int	boot_timeout_ms_

bool	polling_

std::function< void(canopen::NmtState, uint8_t)>	nmt_state_cb_

std::function< void(COData, uint8_t)>	rpdo_cb_

std::function< void(COEmcy, uint8_t)>	emcy_cb_

std::shared_ptr< ros2_canopen::SafeQueue< ros2_canopen::COEmcy > >	emcy_queue_

std::shared_ptr< ros2_canopen::SafeQueue< ros2_canopen::COData > >	rpdo_queue_

rclcpp::TimerBase::SharedPtr	poll_timer_

std::atomic< bool >	diagnostic_enabled_

uint32_t	diagnostic_period_ms_

std::shared_ptr< diagnostic_updater::Updater >	diagnostic_updater_

std::shared_ptr< DiagnosticsCollector >	diagnostic_collector_

Protected Attributes inherited from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >
NODETYPE *	node_

std::shared_ptr< lely::ev::Executor >	exec_

std::shared_ptr< lely::canopen::AsyncMaster >	master_

std::shared_ptr< lely::canopen::BasicDriver >	driver_

std::chrono::milliseconds	non_transmit_timeout_

YAML::Node	config_

uint8_t	node_id_

std::string	container_name_

std::string	eds_

std::string	bin_

rclcpp::CallbackGroup::SharedPtr	client_cbg_

rclcpp::CallbackGroup::SharedPtr	timer_cbg_

std::atomic< bool >	master_set_

std::atomic< bool >	initialised_

std::atomic< bool >	configured_

std::atomic< bool >	activated_

Constructor & Destructor Documentation

◆ NodeCanopenBaseDriver()

template<class NODETYPE >

NodeCanopenBaseDriver::NodeCanopenBaseDriver ( NODETYPE * node )

◆ ~NodeCanopenBaseDriver()

template<class NODETYPE >

virtual ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::~NodeCanopenBaseDriver ( )

inlinevirtual

Member Function Documentation

◆ poll_timer_callback()

template<class NODETYPE >

void NodeCanopenBaseDriver::poll_timer_callback ( )

protectedvirtual

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >.

◆ nmt_listener()

template<class NODETYPE >

void NodeCanopenBaseDriver::nmt_listener ( )

protected

◆ on_nmt()

template<class NODETYPE >

void NodeCanopenBaseDriver::on_nmt ( canopen::NmtState nmt_state )

protectedvirtual

Reimplemented in ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >.

◆ rdpo_listener()

template<class NODETYPE >

void NodeCanopenBaseDriver::rdpo_listener ( )

protected

◆ on_rpdo()

template<class NODETYPE >

void NodeCanopenBaseDriver::on_rpdo ( COData data )

protectedvirtual

Reimplemented in ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >.

◆ emcy_listener()

template<class NODETYPE >

void NodeCanopenBaseDriver::emcy_listener ( )

protected

◆ on_emcy()

template<class NODETYPE >

void NodeCanopenBaseDriver::on_emcy ( COEmcy emcy )

protectedvirtual

◆ diagnostic_callback()

template<class NODETYPE >

void NodeCanopenBaseDriver::diagnostic_callback ( diagnostic_updater::DiagnosticStatusWrapper & stat )

protectedvirtual

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >.

◆ init()

template<class NODETYPE >

void NodeCanopenBaseDriver::init ( bool called_from_base )

virtual

Initialises the driver.

This does not do anything, it is an empty function. it should be overridden by derived classes.

Todo:: Potentially make this an abstract function. This is mainly for debugging purposes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >.

◆ configure()

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::configure ( bool called_from_base )

virtual

Configure the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >.

◆ activate()

template<class NODETYPE >

void NodeCanopenBaseDriver::activate ( bool called_from_base )

virtual

Activates the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >.

◆ deactivate()

template<class NODETYPE >

void NodeCanopenBaseDriver::deactivate ( bool called_from_base )

virtual

Deactivates the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >.

◆ cleanup()

template<class NODETYPE >

void NodeCanopenBaseDriver::cleanup ( bool called_from_base )

virtual

Cleanup the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

◆ shutdown()

template<class NODETYPE >

void NodeCanopenBaseDriver::shutdown ( bool called_from_base )

virtual

Shuts down the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

◆ add_to_master()

template<class NODETYPE >

void NodeCanopenBaseDriver::add_to_master ( )

virtual

Add the driver to master.

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >.

◆ remove_from_master()

template<class NODETYPE >

void NodeCanopenBaseDriver::remove_from_master ( )

virtual

Remove the driver from master.

Reimplemented from ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >.

◆ register_nmt_state_cb()

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::register_nmt_state_cb ( std::function< void(canopen::NmtState, uint8_t)> nmt_state_cb )

inline

Register a callback for NMT state change.

Parameters

nmt_state_cb

◆ register_rpdo_cb()

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::register_rpdo_cb ( std::function< void(COData, uint8_t)> rpdo_cb )

inline

Register a callback for RPDO.

Parameters

rpdo_cb

◆ register_emcy_cb()

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::register_emcy_cb ( std::function< void(COEmcy, uint8_t)> emcy_cb )

inline

Register a callback for EMCY.

Parameters

emcy_cb

Member Data Documentation

◆ nmt_state_publisher_thread_

template<class NODETYPE >

std::thread ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::nmt_state_publisher_thread_

protected

◆ rpdo_publisher_thread_

template<class NODETYPE >

std::thread ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::rpdo_publisher_thread_

protected

◆ emcy_publisher_thread_

template<class NODETYPE >

std::thread ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::emcy_publisher_thread_

protected

◆ driver_mutex_

template<class NODETYPE >

std::mutex ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::driver_mutex_

protected

◆ lely_driver_

template<class NODETYPE >

std::shared_ptr<ros2_canopen::LelyDriverBridge> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::lely_driver_

protected

◆ period_ms_

template<class NODETYPE >

uint32_t ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::period_ms_

protected

◆ sdo_timeout_ms_

template<class NODETYPE >

int ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::sdo_timeout_ms_

protected

◆ boot_timeout_ms_

template<class NODETYPE >

int ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::boot_timeout_ms_

protected

◆ polling_

template<class NODETYPE >

bool ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::polling_

protected

◆ nmt_state_cb_

template<class NODETYPE >

std::function<void(canopen::NmtState, uint8_t)> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::nmt_state_cb_

protected

◆ rpdo_cb_

template<class NODETYPE >

std::function<void(COData, uint8_t)> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::rpdo_cb_

protected

◆ emcy_cb_

template<class NODETYPE >

std::function<void(COEmcy, uint8_t)> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::emcy_cb_

protected

◆ emcy_queue_

template<class NODETYPE >

std::shared_ptr<ros2_canopen::SafeQueue<ros2_canopen::COEmcy> > ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::emcy_queue_

protected

◆ rpdo_queue_

template<class NODETYPE >

std::shared_ptr<ros2_canopen::SafeQueue<ros2_canopen::COData> > ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::rpdo_queue_

protected

◆ poll_timer_

template<class NODETYPE >

rclcpp::TimerBase::SharedPtr ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::poll_timer_

protected

◆ diagnostic_enabled_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::diagnostic_enabled_

protected

◆ diagnostic_period_ms_

template<class NODETYPE >

uint32_t ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::diagnostic_period_ms_

protected

◆ diagnostic_updater_

template<class NODETYPE >

std::shared_ptr<diagnostic_updater::Updater> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::diagnostic_updater_

protected

◆ diagnostic_collector_

template<class NODETYPE >

std::shared_ptr<DiagnosticsCollector> ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >::diagnostic_collector_

protected

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

/home/runner/work/ros2_canopen/ros2_canopen/canopen_base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver.hpp
/home/runner/work/ros2_canopen/ros2_canopen/canopen_base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver_impl.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ NodeCanopenBaseDriver()

◆ ~NodeCanopenBaseDriver()

Member Function Documentation

◆ poll_timer_callback()

◆ nmt_listener()

◆ on_nmt()

◆ rdpo_listener()

◆ on_rpdo()

◆ emcy_listener()

◆ on_emcy()

◆ diagnostic_callback()

◆ init()

◆ configure()

◆ activate()

◆ deactivate()

◆ cleanup()

◆ shutdown()

◆ add_to_master()

◆ remove_from_master()

◆ register_nmt_state_cb()

◆ register_rpdo_cb()

◆ register_emcy_cb()

Member Data Documentation

◆ nmt_state_publisher_thread_

◆ rpdo_publisher_thread_

◆ emcy_publisher_thread_

◆ driver_mutex_

◆ lely_driver_

◆ period_ms_

◆ sdo_timeout_ms_

◆ boot_timeout_ms_

◆ polling_

◆ nmt_state_cb_

◆ rpdo_cb_

◆ emcy_cb_

◆ emcy_queue_

◆ rpdo_queue_

◆ poll_timer_

◆ diagnostic_enabled_

◆ diagnostic_period_ms_

◆ diagnostic_updater_

◆ diagnostic_collector_