Node Canopen Master. More...

#include <node_canopen_master.hpp>

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

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

Public Member Functions
	NodeCanopenMaster (NODETYPE *node)

void	init () override
	Initialise Master.

virtual void	init (bool called_from_base)

void	configure () override
	Configure the driver.

virtual void	configure (bool called_from_base)

void	activate () override
	Activate the driver.

virtual void	activate (bool called_from_base)
	Activate hook for derived classes.

void	deactivate () override
	Deactivate the driver.

virtual void	deactivate (bool called_from_base)
	Deactivate hook for derived classes.

void	cleanup () override
	Cleanup the driver.

virtual void	cleanup (bool called_from_base)

void	shutdown () override
	Shutdown the driver.

virtual void	shutdown (bool called_from_base)

virtual std::shared_ptr< lely::canopen::AsyncMaster >	get_master ()
	Get the master object.

virtual std::shared_ptr< lely::ev::Executor >	get_executor ()
	Get the executor object.

Protected Attributes
NODETYPE *	node_

std::atomic< bool >	initialised_

std::atomic< bool >	configured_

std::atomic< bool >	activated_

std::atomic< bool >	master_set_

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

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

std::unique_ptr< lely::io::IoGuard >	io_guard_

std::unique_ptr< lely::io::Context >	ctx_

std::unique_ptr< lely::io::Poll >	poll_

std::unique_ptr< lely::ev::Loop >	loop_

std::unique_ptr< lely::io::Timer >	timer_

std::unique_ptr< lely::io::CanController >	ctrl_

std::unique_ptr< lely::io::CanChannel >	chan_

std::unique_ptr< lely::io::SignalSet >	sigset_

rclcpp::CallbackGroup::SharedPtr	client_cbg_

rclcpp::CallbackGroup::SharedPtr	timer_cbg_

YAML::Node	config_

uint8_t	node_id_

std::chrono::milliseconds	non_transmit_timeout_

std::string	container_name_

std::string	master_dcf_

std::string	master_bin_

std::string	can_interface_name_

uint32_t	timeout_

std::thread	spinner_

Detailed Description

template<class NODETYPE>
class ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >

Node Canopen Master.

This class implements the NodeCanopenMasterInterface. It provides core functionality and logic for CanopenMaster, indepentently of the ROS node type. Currently rclcpp::Node and rclcpp_lifecycle::LifecycleNode and derived classes are supported. Other node types will lead to compile time error.

Template Parameters

NODETYPE

Constructor & Destructor Documentation

◆ NodeCanopenMaster()

template<class NODETYPE >

ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::NodeCanopenMaster ( NODETYPE * node )

inline

Member Function Documentation

◆ init() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::init ( )

inlineoverridevirtual

Initialise Master.

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ init() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::init ( bool called_from_base )

inlinevirtual

◆ configure() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::configure ( )

inlineoverridevirtual

Configure the driver.

This function should contain the configuration related things, such as reading parameter data or configuration data from files.

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ configure() [2/2]

template<class NODETYPE >

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

inlinevirtual

◆ activate() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::activate ( )

inlineoverridevirtual

Activate the driver.

This function should activate the driver, consequently it needs to start all timers and threads necessary for the operation of the driver.

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ activate() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::activate ( bool called_from_base )

inlinevirtual

Activate hook for derived classes.

This function should create a Master using exec_, timer_, master_dcf_, master_bin_ and node_id_ members and store it in master_. It should also create a thread and run the master's event loop.

Parameters

called_from_base

◆ deactivate() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::deactivate ( )

inlineoverridevirtual

Deactivate the driver.

This function should deactivate the driver, consequently it needs to stop all timers and threads that are related to the operation of the diver.

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ deactivate() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::deactivate ( bool called_from_base )

inlinevirtual

Deactivate hook for derived classes.

This function should wait to join the thread created in the activate function.

Parameters

called_from_base

◆ cleanup() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::cleanup ( )

inlineoverridevirtual

Cleanup the driver.

This function needs to clean the internal state of the driver. This means all data should be deleted.

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ cleanup() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::cleanup ( bool called_from_base )

inlinevirtual

◆ shutdown() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::shutdown ( )

inlineoverridevirtual

Shutdown the driver.

This function should shutdown the driver.

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ shutdown() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::shutdown ( bool called_from_base )

inlinevirtual

◆ get_master()

template<class NODETYPE >

virtual std::shared_ptr< lely::canopen::AsyncMaster > ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::get_master ( )

inlinevirtual

Get the master object.

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

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

◆ get_executor()

template<class NODETYPE >

virtual std::shared_ptr< lely::ev::Executor > ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::get_executor ( )

inlinevirtual

Get the executor object.

Returns: std::shared_ptr<lely::canopen::Executor>

Implements ros2_canopen::node_interfaces::NodeCanopenMasterInterface.

Member Data Documentation

◆ node_

template<class NODETYPE >

NODETYPE* ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::node_

protected

◆ initialised_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::initialised_

protected

◆ configured_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::configured_

protected

◆ activated_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::activated_

protected

◆ master_set_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::master_set_

protected

◆ master_

template<class NODETYPE >

std::shared_ptr<lely::canopen::AsyncMaster> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::master_

protected

◆ exec_

template<class NODETYPE >

std::shared_ptr<lely::ev::Executor> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::exec_

protected

◆ io_guard_

template<class NODETYPE >

std::unique_ptr<lely::io::IoGuard> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::io_guard_

protected

◆ ctx_

template<class NODETYPE >

std::unique_ptr<lely::io::Context> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::ctx_

protected

◆ poll_

template<class NODETYPE >

std::unique_ptr<lely::io::Poll> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::poll_

protected

◆ loop_

template<class NODETYPE >

std::unique_ptr<lely::ev::Loop> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::loop_

protected

◆ timer_

template<class NODETYPE >

std::unique_ptr<lely::io::Timer> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::timer_

protected

◆ ctrl_

template<class NODETYPE >

std::unique_ptr<lely::io::CanController> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::ctrl_

protected

◆ chan_

template<class NODETYPE >

std::unique_ptr<lely::io::CanChannel> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::chan_

protected

◆ sigset_

template<class NODETYPE >

std::unique_ptr<lely::io::SignalSet> ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::sigset_

protected

◆ client_cbg_

template<class NODETYPE >

rclcpp::CallbackGroup::SharedPtr ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::client_cbg_

protected

◆ timer_cbg_

template<class NODETYPE >

rclcpp::CallbackGroup::SharedPtr ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::timer_cbg_

protected

◆ config_

template<class NODETYPE >

YAML::Node ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::config_

protected

◆ node_id_

template<class NODETYPE >

uint8_t ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::node_id_

protected

◆ non_transmit_timeout_

template<class NODETYPE >

std::chrono::milliseconds ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::non_transmit_timeout_

protected

◆ container_name_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::container_name_

protected

◆ master_dcf_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::master_dcf_

protected

◆ master_bin_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::master_bin_

protected

◆ can_interface_name_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::can_interface_name_

protected

◆ timeout_

template<class NODETYPE >

uint32_t ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::timeout_

protected

◆ spinner_

template<class NODETYPE >

std::thread ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >::spinner_

protected

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

/home/runner/work/ros2_canopen/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NodeCanopenMaster()

Member Function Documentation

◆ init() [1/2]

◆ init() [2/2]

◆ configure() [1/2]

◆ configure() [2/2]

◆ activate() [1/2]

◆ activate() [2/2]

◆ deactivate() [1/2]

◆ deactivate() [2/2]

◆ cleanup() [1/2]

◆ cleanup() [2/2]

◆ shutdown() [1/2]

◆ shutdown() [2/2]

◆ get_master()

◆ get_executor()

Member Data Documentation

◆ node_

◆ initialised_

◆ configured_

◆ activated_

◆ master_set_

◆ master_

◆ exec_

◆ io_guard_

◆ ctx_

◆ poll_

◆ loop_

◆ timer_

◆ ctrl_

◆ chan_

◆ sigset_

◆ client_cbg_

◆ timer_cbg_

◆ config_

◆ node_id_

◆ non_transmit_timeout_

◆ container_name_

◆ master_dcf_

◆ master_bin_

◆ can_interface_name_

◆ timeout_

◆ spinner_