Class NodeCanopenMasterInterface

Inheritance Relationships

public ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE > (Template Class NodeCanopenMaster)

class NodeCanopenMasterInterface

Node Canopen Master Interface.

This node provides the interface for NodeCanopenMaster classes that provide ROS node independent CANopen functionality.

Public Functions

virtual void configure() = 0

Configure the driver.

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

virtual void activate() = 0

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.

virtual void deactivate() = 0

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.

virtual void cleanup() = 0

Cleanup the driver.

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

virtual void shutdown() = 0

Shutdown the driver.

This function should shutdown the driver.

virtual std::shared_ptr<lely::canopen::AsyncMaster> get_master() = 0

Get the master object.

virtual std::shared_ptr<lely::ev::Executor> get_executor() = 0

Get the executor object.