schunk_canopen_driver: DS402Group.hpp Source File

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00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 
00003 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00004 // This file is part of the SCHUNK Canopen Driver suite.
00005 //
00006 // This program is free software licensed under the LGPL
00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00008 // You can find a copy of this license in LICENSE folder in the top
00009 // directory of the source code.
00010 //
00011 // © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
00012 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00013 // -- END LICENSE BLOCK ------------------------------------------------
00014 
00015 //----------------------------------------------------------------------
00022 //----------------------------------------------------------------------
00023 
00024 #ifndef DS402GROUP_HPP
00025 #define DS402GROUP_HPP
00026 
00027 namespace icl_hardware {
00028 namespace canopen_schunk {
00029 
00030 template <typename NodeT>
00031 DS301Node::Ptr DS402Group::addNode (const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor)
00032 {
00033   LOGGING_INFO(CanOpen, "Adding new DS402Node with id " << node_id << endl);
00034   DS301Node::Ptr node(new NodeT(node_id, can_device, heartbeat_monitor));
00035   DS402Node::Ptr node_ds402 = boost::dynamic_pointer_cast<DS402Node>(node);
00036   m_nodes.push_back(node);
00037   m_ds402_nodes.push_back(node_ds402);
00038   return node;
00039 }
00040 
00041 }} //End of NS
00042 
00043 #endif