Program Listing for File node_canopen_driver_interface.hpp

↰ Return to documentation for file (/tmp/ws/src/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver_interface.hpp)

//    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 NODE_CANOPEN_DRIVER_INTERFACE_HPP_
#define NODE_CANOPEN_DRIVER_INTERFACE_HPP_

#include <lely/coapp/master.hpp>
#include <lely/ev/exec.hpp>

namespace ros2_canopen
{
namespace node_interfaces
{
class NodeCanopenDriverInterface
{
public:
  NodeCanopenDriverInterface() {}
  virtual void set_master(
    std::shared_ptr<lely::ev::Executor> exec,
    std::shared_ptr<lely::canopen::AsyncMaster> master) = 0;

  virtual void demand_set_master() = 0;

  virtual void init() = 0;

  virtual void configure() = 0;

  virtual void activate() = 0;

  virtual void deactivate() = 0;

  virtual void cleanup() = 0;

  virtual void shutdown() = 0;

  virtual void add_to_master() = 0;

  virtual void remove_from_master() = 0;
};
}  // namespace node_interfaces
}  // namespace ros2_canopen

#endif