Program Listing for File driver_node.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 DRIVER_NODE_HPP_
#define DRIVER_NODE_HPP_
#include <rclcpp/rclcpp.hpp>
#include "canopen_core/node_interfaces/node_canopen_driver.hpp"
namespace ros2_canopen
{
class CanopenDriverInterface
{
public:
virtual void init() = 0;
virtual void set_master(
std::shared_ptr<lely::ev::Executor> exec,
std::shared_ptr<lely::canopen::AsyncMaster> master) = 0;
virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() = 0;
virtual void shutdown() = 0;
virtual bool is_lifecycle() = 0;
virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
get_node_canopen_driver_interface() = 0;
};
class CanopenDriver : public CanopenDriverInterface, public rclcpp::Node
{
public:
std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> node_canopen_driver_;
explicit CanopenDriver(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
: rclcpp::Node("canopen_driver", node_options)
{
node_canopen_driver_ = std::make_shared<node_interfaces::NodeCanopenDriver<rclcpp::Node>>(this);
}
virtual void init() override;
virtual void set_master(
std::shared_ptr<lely::ev::Executor> exec,
std::shared_ptr<lely::canopen::AsyncMaster> master) override;
virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() override
{
return rclcpp::Node::get_node_base_interface();
}
virtual void shutdown() override;
virtual bool is_lifecycle() override { return false; }
virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
get_node_canopen_driver_interface()
{
return node_canopen_driver_;
}
};
class LifecycleCanopenDriver : public CanopenDriverInterface, public rclcpp_lifecycle::LifecycleNode
{
protected:
std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> node_canopen_driver_;
public:
explicit LifecycleCanopenDriver(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
: rclcpp_lifecycle::LifecycleNode("lifecycle_canopen_driver", node_options)
{
node_canopen_driver_ =
std::make_shared<node_interfaces::NodeCanopenDriver<rclcpp_lifecycle::LifecycleNode>>(this);
}
virtual void init() override;
virtual void set_master(
std::shared_ptr<lely::ev::Executor> exec,
std::shared_ptr<lely::canopen::AsyncMaster> master) override;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
const rclcpp_lifecycle::State & state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
const rclcpp_lifecycle::State & state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State & state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
const rclcpp_lifecycle::State & state);
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State & state);
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() override
{
return rclcpp_lifecycle::LifecycleNode::get_node_base_interface();
}
virtual void shutdown() override;
virtual bool is_lifecycle() override { return true; }
virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>
get_node_canopen_driver_interface()
{
return node_canopen_driver_;
}
};
} // namespace ros2_canopen
#endif