node_canopen_master_interface.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 NODE_CANOPEN_MASTER_INTERFACE_HPP_
#define NODE_CANOPEN_MASTER_INTERFACE_HPP_
 
#include <lely/coapp/master.hpp>
#include <lely/ev/exec.hpp>
#include "canopen_core/node_interfaces/node_canopen_driver_interface.hpp"
 
namespace ros2_canopen
{
namespace node_interfaces
{
class NodeCanopenMasterInterface
{
public:
  virtual void init() = 0;
 
  virtual void configure() = 0;
 
  virtual void activate() = 0;
 
  virtual void deactivate() = 0;
 
  virtual void cleanup() = 0;
 
  virtual void shutdown() = 0;
  virtual std::shared_ptr<lely::canopen::AsyncMaster> get_master() = 0;
  virtual std::shared_ptr<lely::ev::Executor> get_executor() = 0;
};
}  // namespace node_interfaces
}  // namespace ros2_canopen
#endif