Template Class NodeCanopenMaster

Inheritance Relationships

Base Type

Class Documentation

template<class NODETYPE>
class NodeCanopenMaster : public ros2_canopen::node_interfaces::NodeCanopenMasterInterface

Node Canopen Master.

This class implements the NodeCanopenMasterInterface. It provides core functionality and logic for CanopenMaster, indepentently of the ROS node type. Currently rclcpp::Node and rclcpp_lifecycle::LifecycleNode and derived classes are supported. Other node types will lead to compile time error.

Template Parameters:

NODETYPE –

Public Functions

inline NodeCanopenMaster(NODETYPE *node)
inline virtual void init() override

Initialise Master.

inline virtual void init(bool called_from_base)
inline virtual void configure() override

Configure the driver.

This function should contain the configuration related things, such as reading parameter data or configuration data from files.

inline virtual void configure(bool called_from_base)
inline virtual void activate() override

Activate the driver.

This function should activate the driver, consequently it needs to start all timers and threads necessary for the operation of the driver.

inline virtual void activate(bool called_from_base)

Activate hook for derived classes.

This function should create a Master using exec_, timer_, master_dcf_, master_bin_ and node_id_ members and store it in master_. It should also create a thread and run the master’s event loop.

Parameters:

called_from_base –

inline virtual void deactivate() override

Deactivate the driver.

This function should deactivate the driver, consequently it needs to stop all timers and threads that are related to the operation of the diver.

inline virtual void deactivate(bool called_from_base)

Deactivate hook for derived classes.

This function should wait to join the thread created in the activate function.

Parameters:

called_from_base –

inline virtual void cleanup() override

Cleanup the driver.

This function needs to clean the internal state of the driver. This means all data should be deleted.

inline virtual void cleanup(bool called_from_base)
inline virtual void shutdown() override

Shutdown the driver.

This function should shutdown the driver.

inline virtual void shutdown(bool called_from_base)
inline virtual std::shared_ptr<lely::canopen::AsyncMaster> get_master()

Get the master object.

Returns:

std::shared_ptr<lely::canopen::AsyncMaster>

inline virtual std::shared_ptr<lely::ev::Executor> get_executor()

Get the executor object.

Returns:

std::shared_ptr<lely::canopen::Executor>

Protected Attributes

NODETYPE *node_
std::atomic<bool> initialised_
std::atomic<bool> configured_
std::atomic<bool> activated_
std::atomic<bool> master_set_
std::shared_ptr<lely::canopen::AsyncMaster> master_
std::shared_ptr<lely::ev::Executor> exec_
std::unique_ptr<lely::io::IoGuard> io_guard_
std::unique_ptr<lely::io::Context> ctx_
std::unique_ptr<lely::io::Poll> poll_
std::unique_ptr<lely::ev::Loop> loop_
std::unique_ptr<lely::io::Timer> timer_
std::unique_ptr<lely::io::CanController> ctrl_
std::unique_ptr<lely::io::CanChannel> chan_
std::unique_ptr<lely::io::SignalSet> sigset_
rclcpp::CallbackGroup::SharedPtr client_cbg_
rclcpp::CallbackGroup::SharedPtr timer_cbg_
YAML::Node config_
uint8_t node_id_
std::chrono::milliseconds non_transmit_timeout_
std::string container_name_
std::string master_dcf_
std::string master_bin_
std::string can_interface_name_
std::thread spinner_