lifecycle_proxy_driver.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 CANOPEN_PROXY_DRIVER__CANOPEN_LIFECYCLE_PROXY_DRIVER_HPP_
#define CANOPEN_PROXY_DRIVER__CANOPEN_LIFECYCLE_PROXY_DRIVER_HPP_
 
#include "canopen_core/driver_node.hpp"
#include "canopen_proxy_driver/node_interfaces/node_canopen_proxy_driver.hpp"
 
namespace ros2_canopen
{
class LifecycleProxyDriver : public ros2_canopen::LifecycleCanopenDriver
{
  std::shared_ptr<node_interfaces::NodeCanopenProxyDriver<rclcpp_lifecycle::LifecycleNode>>
    node_canopen_proxy_driver_;
 
public:
  LifecycleProxyDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions());
  virtual bool reset_node_nmt_command()
  {
    return node_canopen_proxy_driver_->reset_node_nmt_command();
  }
 
  virtual bool start_node_nmt_command()
  {
    return node_canopen_proxy_driver_->start_node_nmt_command();
  }
 
  virtual bool tpdo_transmit(ros2_canopen::COData & data)
  {
    return node_canopen_proxy_driver_->tpdo_transmit(data);
  }
 
  virtual bool sdo_write(ros2_canopen::COData & data)
  {
    return node_canopen_proxy_driver_->sdo_write(data);
  }
 
  virtual bool sdo_read(ros2_canopen::COData & data)
  {
    return node_canopen_proxy_driver_->sdo_read(data);
  }
 
  void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)
  {
    node_canopen_proxy_driver_->register_nmt_state_cb(nmt_state_cb);
  }
 
  void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)
  {
    node_canopen_proxy_driver_->register_rpdo_cb(rpdo_cb);
  }
};
}  // namespace ros2_canopen
 
#endif  // CANOPEN_PROXY_DRIVER__CANOPEN_LIFECYCLE_PROXY_DRIVER_HPP_