driver_node.hpp

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//    Copyright 2022 Christoph Hellmann Santos
//
//    Licensed under the Apache License, Version 2.0 (the "License");
//    you may not use this file except in compliance with the License.
//    You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
//    Unless required by applicable law or agreed to in writing, software
//    distributed under the License is distributed on an "AS IS" BASIS,
//    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
//    See the License for the specific language governing permissions and
//    limitations under the License.
 
#ifndef DRIVER_NODE_HPP_
#define DRIVER_NODE_HPP_
 
#include <rclcpp/rclcpp.hpp>
#include "canopen_core/node_interfaces/node_canopen_driver.hpp"
 
namespace ros2_canopen
{
class CanopenDriverInterface
{
public:
  virtual void init() = 0;
 
  virtual void set_master(
    std::shared_ptr<lely::ev::Executor> exec,
    std::shared_ptr<lely::canopen::AsyncMaster> master) = 0;
 
  virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() = 0;
 
  virtual void shutdown() = 0;
 
  virtual bool is_lifecycle() = 0;
 
  virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
  get_node_canopen_driver_interface() = 0;
};
 
class CanopenDriver : public CanopenDriverInterface, public rclcpp::Node
{
public:
  std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> node_canopen_driver_;
  explicit CanopenDriver(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
  : rclcpp::Node("canopen_driver", node_options)
  {
    node_canopen_driver_ = std::make_shared<node_interfaces::NodeCanopenDriver<rclcpp::Node>>(this);
  }
 
  virtual void init() override;
 
  virtual void set_master(
    std::shared_ptr<lely::ev::Executor> exec,
    std::shared_ptr<lely::canopen::AsyncMaster> master) override;
 
  virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() override
  {
    return rclcpp::Node::get_node_base_interface();
  }
 
  virtual void shutdown() override;
 
  virtual bool is_lifecycle() override { return false; }
 
  virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
  get_node_canopen_driver_interface()
  {
    return node_canopen_driver_;
  }
};
 
class LifecycleCanopenDriver : public CanopenDriverInterface, public rclcpp_lifecycle::LifecycleNode
{
protected:
  std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> node_canopen_driver_;
 
public:
  explicit LifecycleCanopenDriver(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
  : rclcpp_lifecycle::LifecycleNode("lifecycle_canopen_driver", node_options)
  {
    node_canopen_driver_ =
      std::make_shared<node_interfaces::NodeCanopenDriver<rclcpp_lifecycle::LifecycleNode>>(this);
  }
  virtual void init() override;
 
  virtual void set_master(
    std::shared_ptr<lely::ev::Executor> exec,
    std::shared_ptr<lely::canopen::AsyncMaster> master) override;
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & state);
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & state);
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & state);
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
    const rclcpp_lifecycle::State & state);
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
    const rclcpp_lifecycle::State & state);
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() override
  {
    return rclcpp_lifecycle::LifecycleNode::get_node_base_interface();
  }
 
  virtual void shutdown() override;
  virtual bool is_lifecycle() override { return true; }
  virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
  get_node_canopen_driver_interface()
  {
    return node_canopen_driver_;
  }
};
 
}  // namespace ros2_canopen
 
#endif