#include <node_canopen_proxy_driver.hpp>

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

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

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Public Member Functions
	NodeCanopenProxyDriver (NODETYPE *node)

virtual void	init (bool called_from_base) override
	Initialises the driver.

virtual bool	reset_node_nmt_command ()

virtual bool	start_node_nmt_command ()

virtual bool	tpdo_transmit (COData &data)

virtual bool	sdo_write (COData &data)

virtual bool	sdo_read (COData &data)

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

virtual	~NodeCanopenBaseDriver ()

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	on_nmt (canopen::NmtState nmt_state) override

virtual void	on_rpdo (COData data) override

virtual void	on_tpdo (const canopen_interfaces::msg::COData::SharedPtr msg)

virtual void	diagnostic_callback (diagnostic_updater::DiagnosticStatusWrapper &stat) override

void	on_nmt_state_reset (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)

void	on_nmt_state_start (const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response)

void	on_sdo_read (const canopen_interfaces::srv::CORead::Request::SharedPtr request, canopen_interfaces::srv::CORead::Response::SharedPtr response)

void	on_sdo_write (const canopen_interfaces::srv::COWrite::Request::SharedPtr request, canopen_interfaces::srv::COWrite::Response::SharedPtr response)

Protected Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >
virtual void	poll_timer_callback ()

void	nmt_listener ()

void	rdpo_listener ()

void	emcy_listener ()

virtual void	on_emcy (COEmcy emcy)

Protected Attributes
rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	nmt_state_publisher

rclcpp::Publisher< canopen_interfaces::msg::COData >::SharedPtr	rpdo_publisher

rclcpp::Subscription< canopen_interfaces::msg::COData >::SharedPtr	tpdo_subscriber

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	nmt_state_reset_service

rclcpp::Service< std_srvs::srv::Trigger >::SharedPtr	nmt_state_start_service

rclcpp::Service< canopen_interfaces::srv::CORead >::SharedPtr	sdo_read_service

rclcpp::Service< canopen_interfaces::srv::COWrite >::SharedPtr	sdo_write_service

std::mutex	sdo_mtex

Protected Attributes inherited from ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >
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

◆ NodeCanopenProxyDriver()

template<class NODETYPE >

NodeCanopenProxyDriver::NodeCanopenProxyDriver ( NODETYPE * node )

Member Function Documentation

◆ on_nmt()

template<class NODETYPE >

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

overrideprotectedvirtual

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

◆ on_rpdo()

template<class NODETYPE >

void NodeCanopenProxyDriver::on_rpdo ( ros2_canopen::COData d )

overrideprotectedvirtual

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

◆ on_tpdo()

template<class NODETYPE >

void NodeCanopenProxyDriver::on_tpdo ( const canopen_interfaces::msg::COData::SharedPtr msg )

protectedvirtual

◆ diagnostic_callback()

template<class NODETYPE >

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

overrideprotectedvirtual

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

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

◆ on_nmt_state_reset()

template<class NODETYPE >

void NodeCanopenProxyDriver::on_nmt_state_reset	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

protected

◆ on_nmt_state_start()

template<class NODETYPE >

void NodeCanopenProxyDriver::on_nmt_state_start	(	const std_srvs::srv::Trigger::Request::SharedPtr	request,
		std_srvs::srv::Trigger::Response::SharedPtr	response
	)

protected

◆ on_sdo_read()

template<class NODETYPE >

void NodeCanopenProxyDriver::on_sdo_read	(	const canopen_interfaces::srv::CORead::Request::SharedPtr	request,
		canopen_interfaces::srv::CORead::Response::SharedPtr	response
	)

protected

◆ on_sdo_write()

template<class NODETYPE >

void NodeCanopenProxyDriver::on_sdo_write	(	const canopen_interfaces::srv::COWrite::Request::SharedPtr	request,
		canopen_interfaces::srv::COWrite::Response::SharedPtr	response
	)

protected

◆ init()

template<class NODETYPE >

void NodeCanopenProxyDriver::init ( bool called_from_base )

overridevirtual

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::NodeCanopenBaseDriver< NODETYPE >.

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

◆ reset_node_nmt_command()

template<class NODETYPE >

bool NodeCanopenProxyDriver::reset_node_nmt_command ( )

virtual

◆ start_node_nmt_command()

template<class NODETYPE >

bool NodeCanopenProxyDriver::start_node_nmt_command ( )

virtual

◆ tpdo_transmit()

template<class NODETYPE >

bool NodeCanopenProxyDriver::tpdo_transmit ( ros2_canopen::COData & data )

virtual

◆ sdo_write()

template<class NODETYPE >

bool NodeCanopenProxyDriver::sdo_write ( ros2_canopen::COData & data )

virtual

◆ sdo_read()

template<class NODETYPE >

bool NodeCanopenProxyDriver::sdo_read ( ros2_canopen::COData & data )

virtual

Member Data Documentation

◆ nmt_state_publisher

template<class NODETYPE >

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::nmt_state_publisher

protected

◆ rpdo_publisher

template<class NODETYPE >

rclcpp::Publisher<canopen_interfaces::msg::COData>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::rpdo_publisher

protected

◆ tpdo_subscriber

template<class NODETYPE >

rclcpp::Subscription<canopen_interfaces::msg::COData>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::tpdo_subscriber

protected

◆ nmt_state_reset_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::nmt_state_reset_service

protected

◆ nmt_state_start_service

template<class NODETYPE >

rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::nmt_state_start_service

protected

◆ sdo_read_service

template<class NODETYPE >

rclcpp::Service<canopen_interfaces::srv::CORead>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::sdo_read_service

protected

◆ sdo_write_service

template<class NODETYPE >

rclcpp::Service<canopen_interfaces::srv::COWrite>::SharedPtr ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::sdo_write_service

protected

◆ sdo_mtex

template<class NODETYPE >

std::mutex ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >::sdo_mtex

protected

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

/home/runner/work/ros2_canopen/ros2_canopen/canopen_proxy_driver/include/canopen_proxy_driver/node_interfaces/node_canopen_proxy_driver.hpp
/home/runner/work/ros2_canopen/ros2_canopen/canopen_proxy_driver/include/canopen_proxy_driver/node_interfaces/node_canopen_proxy_driver_impl.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ NodeCanopenProxyDriver()

Member Function Documentation

◆ on_nmt()

◆ on_rpdo()

◆ on_tpdo()

◆ diagnostic_callback()

◆ on_nmt_state_reset()

◆ on_nmt_state_start()

◆ on_sdo_read()

◆ on_sdo_write()

◆ init()

◆ reset_node_nmt_command()

◆ start_node_nmt_command()

◆ tpdo_transmit()

◆ sdo_write()

◆ sdo_read()

Member Data Documentation

◆ nmt_state_publisher

◆ rpdo_publisher

◆ tpdo_subscriber

◆ nmt_state_reset_service

◆ nmt_state_start_service

◆ sdo_read_service

◆ sdo_write_service

◆ sdo_mtex