Class NodeCanopenDriverInterface

Inheritance Relationships

public ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE > (Template Class NodeCanopenDriver)

class NodeCanopenDriverInterface

Node Canopen Driver Interface.

This node provides the interface for NodeCanopenDriver classes that provide ROS node independent CANopen functionality.

Public Functions

virtual void set_master(std::shared_ptr<lely::ev::Executor> exec, std::shared_ptr<lely::canopen::AsyncMaster> master) = 0

Set Master.

Sets the Lely Canopen Master Objects needed by the driver to add itself to the master.

virtual void demand_set_master() = 0

Demand set Master.

This function should ask the drivers parent container to set the master objects. This should result in a call to set_master function.

virtual void init() = 0

Initialise the driver.

In this function the ROS interface should be created and potentially necessary callback groups.

virtual void configure() = 0

Configure the driver.

This function should contain the configuration related things, such as reading parameter data or configuration data from files.

virtual void activate() = 0

Activate the driver.

This function should activate the driver, consequently it needs to start all timers and threads necessary for the operation of the driver.

virtual void deactivate() = 0

Deactivate the driver.

This function should deactivate the driver, consequently it needs to stop all timers and threads that are related to the operation of the diver.

virtual void cleanup() = 0

Cleanup the driver.

This function needs to clean the internal state of the driver. This means all data should be deleted.

virtual void shutdown() = 0

Shutdown the driver.

This function should shutdown the driver.