Program Listing for File node_canopen_basic_master.hpp
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// Copyright 2022 Harshavadan Deshpande
// 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 NODE_CANOPEN_BASIC_MASTER_HPP_
#define NODE_CANOPEN_BASIC_MASTER_HPP_
#include "canopen_core/node_interfaces/node_canopen_master.hpp"
#include "canopen_interfaces/srv/co_read_id.hpp"
#include "canopen_interfaces/srv/co_write_id.hpp"
#include "canopen_master_driver/lely_master_bridge.hpp"
namespace ros2_canopen
{
namespace node_interfaces
{
template <class NODETYPE>
class NodeCanopenBasicMaster : public ros2_canopen::node_interfaces::NodeCanopenMaster<NODETYPE>
{
static_assert(
std::is_base_of<rclcpp::Node, NODETYPE>::value ||
std::is_base_of<rclcpp_lifecycle::LifecycleNode, NODETYPE>::value,
"NODETYPE must derive from rclcpp::Node or rclcpp_lifecycle::LifecycleNode");
protected:
std::shared_ptr<LelyMasterBridge> master_bridge_;
rclcpp::Service<canopen_interfaces::srv::COReadID>::SharedPtr sdo_read_service;
rclcpp::Service<canopen_interfaces::srv::COWriteID>::SharedPtr sdo_write_service;
public:
NodeCanopenBasicMaster(NODETYPE * node)
: ros2_canopen::node_interfaces::NodeCanopenMaster<NODETYPE>(node)
{
this->activated_.load();
RCLCPP_INFO(this->node_->get_logger(), "NodeCanopenBasicMaster");
}
virtual ~NodeCanopenBasicMaster() {}
virtual void activate(bool called_from_base) override;
virtual void deactivate(bool called_from_base) override;
virtual void init(bool called_from_base) override;
void on_sdo_read(
const std::shared_ptr<canopen_interfaces::srv::COReadID::Request> request,
std::shared_ptr<canopen_interfaces::srv::COReadID::Response> response);
void on_sdo_write(
const std::shared_ptr<canopen_interfaces::srv::COWriteID::Request> request,
std::shared_ptr<canopen_interfaces::srv::COWriteID::Response> response);
};
} // namespace node_interfaces
} // namespace ros2_canopen
#endif