node_canopen_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 NODE_CANOPEN_PROXY_DRIVER
#define NODE_CANOPEN_PROXY_DRIVER
 
#include "canopen_base_driver/node_interfaces/node_canopen_base_driver.hpp"
namespace ros2_canopen
{
namespace node_interfaces
{
 
template <class NODETYPE>
class NodeCanopenProxyDriver : public NodeCanopenBaseDriver<NODETYPE>
{
  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:
  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;
 
  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);
 
public:
  NodeCanopenProxyDriver(NODETYPE * node);
 
  virtual void init(bool called_from_base) override;
 
  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);
};
}  // namespace node_interfaces
}  // namespace ros2_canopen
 
#endif