node_canopen_master.hpp

Go to the documentation of this file.

//    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 NODE_CANOPEN_MASTER_HPP_
#define NODE_CANOPEN_MASTER_HPP_
 
#include <yaml-cpp/yaml.h>
#include <atomic>
#include <lely/coapp/master.hpp>
#include <lely/coapp/slave.hpp>
#include <lely/ev/exec.hpp>
#include <lely/ev/loop.hpp>
#include <lely/io2/linux/can.hpp>
#include <lely/io2/posix/poll.hpp>
#include <lely/io2/sys/io.hpp>
#include <lely/io2/sys/sigset.hpp>
#include <lely/io2/sys/timer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <thread>
#include "canopen_core/master_error.hpp"
#include "canopen_core/node_interfaces/node_canopen_master_interface.hpp"
 
namespace ros2_canopen
{
namespace node_interfaces
{
template <class NODETYPE>
class NodeCanopenMaster : public NodeCanopenMasterInterface
{
  static_assert(
    std::is_base_of<rclcpp::Node, NODETYPE>::value ||
      std::is_base_of<rclcpp_lifecycle::LifecycleNode, NODETYPE>::value,
    "NODETYPE must derive from rclcpp::Node or rclcpp_lifecycle::LifecycleNode");
 
protected:
  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_;
 
public:
  NodeCanopenMaster(NODETYPE * node)
  : initialised_(false), configured_(false), activated_(false), master_set_(false)
  {
    node_ = node;
  }
 
  void init() override
  {
    RCLCPP_DEBUG(node_->get_logger(), "init_start");
    if (configured_.load())
    {
      throw MasterException("Init: Master is already configured.");
    }
    if (activated_.load())
    {
      throw MasterException("Init: Master is already activated.");
    }
    client_cbg_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
    timer_cbg_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
    node_->declare_parameter("container_name", "");
    node_->declare_parameter("master_dcf", "");
    node_->declare_parameter("master_bin", "");
    node_->declare_parameter("can_interface_name", "vcan0");
    node_->declare_parameter("node_id", 0);
    node_->declare_parameter("non_transmit_timeout", 100);
    node_->declare_parameter("config", "");
    this->init(true);
    this->initialised_.store(true);
    RCLCPP_DEBUG(node_->get_logger(), "init_end");
  }
  virtual void init(bool called_from_base) {}
 
  void configure() override
  {
    if (!initialised_.load())
    {
      throw MasterException("Configure: Master is not initialised.");
    }
    if (configured_.load())
    {
      throw MasterException("Configure: Master is already configured.");
    }
    if (activated_.load())
    {
      throw MasterException("Configure: Master is already activated.");
    }
 
    int non_transmit_timeout;
    std::string config;
 
    node_->get_parameter("container_name", container_name_);
    node_->get_parameter("master_dcf", master_dcf_);
    node_->get_parameter("master_bin", master_bin_);
    node_->get_parameter("can_interface_name", can_interface_name_);
    node_->get_parameter("node_id", node_id_);
    node_->get_parameter("non_transmit_timeout", non_transmit_timeout);
    node_->get_parameter("config", config);
 
    this->config_ = YAML::Load(config);
    this->non_transmit_timeout_ = std::chrono::milliseconds(non_transmit_timeout);
 
    this->configure(true);
    this->configured_.store(true);
  }
 
  virtual void configure(bool called_from_base)
  {
    std::optional<int> timeout;
    try
    {
      timeout = this->config_["boot_timeout"].as<int>();
    }
    catch (...)
    {
      RCLCPP_WARN(
        this->node_->get_logger(),
        "No timeout parameter found in config file. Using default value of 100ms.");
    }
    this->timeout_ = timeout.value_or(2000);
    RCLCPP_INFO_STREAM(
      this->node_->get_logger(), "Master boot timeout set to " << this->timeout_ << "ms.");
  }
 
  void activate() override
  {
    RCLCPP_DEBUG(this->node_->get_logger(), "NodeCanopenMaster activate start");
    if (!initialised_.load())
    {
      throw MasterException("Activate: master is not initialised");
    }
    if (!configured_.load())
    {
      throw MasterException("Activate: master is not configured");
    }
    if (activated_.load())
    {
      throw MasterException("Activate: master is already activated");
    }
 
    io_guard_ = std::make_unique<lely::io::IoGuard>();
    ctx_ = std::make_unique<lely::io::Context>();
    poll_ = std::make_unique<lely::io::Poll>(*ctx_);
    loop_ = std::make_unique<lely::ev::Loop>(poll_->get_poll());
 
    exec_ = std::make_shared<lely::ev::Executor>(loop_->get_executor());
    timer_ = std::make_unique<lely::io::Timer>(*poll_, *exec_, CLOCK_MONOTONIC);
    ctrl_ = std::make_unique<lely::io::CanController>(can_interface_name_.c_str());
    chan_ = std::make_unique<lely::io::CanChannel>(*poll_, *exec_);
    chan_->open(*ctrl_);
 
    this->activate(true);
    if (!master_)
    {
      throw MasterException("Activate: master not set");
    }
    this->master_set_.store(true);
    this->master_->Reset();
    this->spinner_ = std::thread(
      [this]()
      {
        try
        {
          loop_->run();
        }
        catch (const std::exception & e)
        {
          RCLCPP_INFO(this->node_->get_logger(), e.what());
        }
        RCLCPP_INFO(this->node_->get_logger(), "Canopen master loop stopped");
      });
    this->activated_.store(true);
    RCLCPP_DEBUG(this->node_->get_logger(), "NodeCanopenMaster activate end");
  }
  virtual void activate(bool called_from_base) {}
 
  void deactivate() override
  {
    if (!initialised_.load())
    {
      throw MasterException("Deactivate: master is not initialised");
    }
    if (!configured_.load())
    {
      throw MasterException("Deactivate: master is not configured");
    }
    if (!activated_.load())
    {
      throw MasterException("Deactivate: master is not activated");
    }
    exec_->post(
      [this]()
      {
        RCLCPP_INFO(node_->get_logger(), "Lely Core Context Shutdown");
        ctx_->shutdown();
      });
    this->spinner_.join();
 
    this->deactivate(true);
    this->activated_.store(false);
  }
 
  virtual void deactivate(bool called_from_base) {}
 
  void cleanup() override
  {
    if (!initialised_.load())
    {
      throw MasterException("Cleanup: master is not initialised.");
    }
    if (!configured_.load())
    {
      throw MasterException("Cleanup: master is not configured");
    }
    if (activated_.load())
    {
      throw MasterException("Cleanup: master is still active");
    }
    this->cleanup(true);
    io_guard_.reset();
    ctx_.reset();
    poll_.reset();
    loop_.reset();
 
    exec_.reset();
    timer_.reset();
    ctrl_.reset();
    chan_.reset();
    this->configured_.store(false);
    this->master_set_.store(false);
  }
  virtual void cleanup(bool called_from_base) {}
 
  void shutdown() override
  {
    RCLCPP_DEBUG(this->node_->get_logger(), "Shutting down.");
    if (this->activated_)
    {
      this->deactivate();
    }
 
    if (this->configured_)
    {
      this->cleanup();
    }
    shutdown(true);
 
    this->master_set_.store(false);
    this->initialised_.store(false);
    this->configured_.store(false);
    this->activated_.store(false);
  }
  virtual void shutdown(bool called_from_base) {}
 
  virtual std::shared_ptr<lely::canopen::AsyncMaster> get_master()
  {
    if (!master_set_.load())
    {
      throw MasterException("Get Master: Master is not set.");
    }
    return master_;
  }
  virtual std::shared_ptr<lely::ev::Executor> get_executor()
  {
    if (!master_set_.load())
    {
      throw MasterException("Get Executor: master is not set");
    }
    return exec_;
  }
};
}  // namespace node_interfaces
}  // namespace ros2_canopen
 
#endif