Program Listing for File 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_PROXY_DRIVER_HPP_
#define CANOPEN_PROXY_DRIVER__CANOPEN_PROXY_DRIVER_HPP_
#include "canopen_core/driver_node.hpp"
#include "canopen_proxy_driver/node_interfaces/node_canopen_proxy_driver.hpp"
namespace ros2_canopen
{
class ProxyDriver : public ros2_canopen::CanopenDriver
{
std::shared_ptr<node_interfaces::NodeCanopenProxyDriver<rclcpp::Node>> node_canopen_proxy_driver_;
public:
ProxyDriver(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_PROXY_DRIVER_HPP_