Class LifecycleCanopenDriver

Defined in File driver_node.hpp

Inheritance Relationships

Base Types

public ros2_canopen::CanopenDriverInterface (Class CanopenDriverInterface)
public rclcpp_lifecycle::LifecycleNode

Class Documentation

class LifecycleCanopenDriver : public ros2_canopen::CanopenDriverInterface, public rclcpp_lifecycle::LifecycleNode

Lifecycle Canopen Driver.

This provides a class, that driver nodes that are based on rclcpp_lifecycle::LifecycleNode should be derived of. This class implements the ros2_canopen::CanopenDriverInterface.

Public Functions

inline explicit LifecycleCanopenDriver(const rclcpp::NodeOptions &node_options = rclcpp::NodeOptions())

virtual void init() override

Initialise the driver.

This function will activate the driver using the instantiated node_canopen_driver_. It will call init() of the NodeCanopenDriverInterface. If the function finishes without exception, the driver can be configured.

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

Set the master object.

This function will set the Canopen Master Objects that are necessary for the driver to be instantiated. It will be called by the device container when the init_driver service is invoked.

Parameters:

exec –
master –

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State &state)

Configure Callback.

This function will call configure() and demand_set_master() of the node_canopen_driver_.

Parameters:: state –
Returns:: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(const rclcpp_lifecycle::State &state)

Activate Callback.

This function will call activate() of the node_canopen_driver_.

Parameters:: state –
Returns:: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state)

Deactivate Callback.

This function will call deactivate() of the node_canopen_driver_.

Parameters:: state –
Returns:: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state)

Deactivate Callback.

This function will call cleanup() of the node_canopen_driver_.

Parameters:: state –
Returns:: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state)

Deactivate Callback.

This function will call shutdown() of the node_canopen_driver_.

Parameters:: state –
Returns:: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

inline virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() override

Get the node base interface object.

This function shall return an rclcpp::node_interfaces::NodeBaseInterface::SharedPtr. The pointer will be used to add the driver node to the executor.

Returns:: rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

virtual void shutdown() override

Shutdown the driver.

This function will shutdown the driver by calling the shutdown() function of node_canopen_driver_.

inline virtual bool is_lifecycle() override

Check whether this is a LifecycleNode.

Returns:: true

inline virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> get_node_canopen_driver_interface()

Get the node canopen driver interface object.

This function gives access to the underlying NodeCanopenDriverInterface.

Returns:: std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>

Protected Attributes

std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> node_canopen_driver_