Program Listing for File node_canopen_basic_master.hpp

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

//    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