Class ConfigurationManager

Class Documentation

class ConfigurationManager

Manager for Bus Configuration.

The Bus configuration Manager stores the YAML bus configuration and enables reading configuration entries. The configuration manager is passed to all ros2_canopen master and slave drivers to enable reading driver specific configuration parameters from the YAML configuration file.

Public Functions

inline ConfigurationManager(std::string &file)
template<typename T>
inline std::optional<T> get_entry(std::string device_name, std::string entry_name)

Gets a configuration entry for a specific device.

Template Parameters:

T – Datatype of the retrieved object

Parameters:

  • device_name – Device name

  • entry_name – Entry name

Returns:

std::optional<T> Return value, can be empty.

inline std::string dump_device(std::string device_name)

Dump device string.

Parameters:

device_name –

Returns:

std::string

void init_config()

Initialises the configuration.

uint32_t get_all_devices(std::vector<std::string> &devices)

Returns all device names.

Parameters:

devices – List with names of all devices

Returns:

uint32_t Number of devices discovered