00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- 00002 00003 // -- BEGIN LICENSE BLOCK ---------------------------------------------- 00004 // This file is part of the SCHUNK Canopen Driver suite. 00005 // 00006 // This program is free software licensed under the LGPL 00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3). 00008 // You can find a copy of this license in LICENSE folder in the top 00009 // directory of the source code. 00010 // 00011 // © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany 00012 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany 00013 // -- END LICENSE BLOCK ------------------------------------------------ 00014 00015 //---------------------------------------------------------------------- 00022 //---------------------------------------------------------------------- 00023 00024 #ifndef DS301GROUP_HPP 00025 #define DS301GROUP_HPP 00026 00027 namespace icl_hardware { 00028 namespace canopen_schunk { 00029 00030 template <typename NodeT> 00031 DS301Node::Ptr DS301Group::addNode(const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor) 00032 { 00033 LOGGING_INFO(CanOpen, "Adding new DS301Node with id " << node_id << endl); 00034 DS301Node::Ptr node(new NodeT(node_id, can_device, heartbeat_monitor)); 00035 m_nodes.push_back(node); 00036 return node; 00037 } 00038 00039 }} //End of NS 00040 00041 #endif