Template Class NodeCanopenInventusDriver

Defined in File node_canopen_inventus_driver.hpp

Inheritance Relationships

Base Type

public NodeCanopenProxyDriver< NODETYPE >

Class Documentation

template<class NODETYPE> class NodeCanopenInventusDriver : public NodeCanopenProxyDriver<NODETYPE>

Public Functions

NodeCanopenInventusDriver(NODETYPE *node)

Constructor for templated Node Canopen Inventus Driver<NODETYPE>:: Node Canopen Inventus Driver object.

Template Parameters:: NODETYPE –
Parameters:: node –

virtual void init(bool called_from_base) override

Templated initialization, not utilized.

Template Parameters:: NODETYPE –
Parameters:: called_from_base –

virtual void configure(bool called_from_base) override

virtual void activate(bool called_from_base) override

Activation function. Start timers.

Template Parameters:: NODETYPE –
Parameters:: called_from_base –

virtual void deactivate(bool called_from_base) override

Deactivation function. Stop timer.

Template Parameters:: NODETYPE –
Parameters:: called_from_base –

virtual void add_to_master() override

Register node with the master node.

Template Parameters:: NODETYPE –

Protected Functions

void publish()

Publish state and status messages.

Template Parameters:: NODETYPE –

virtual void poll_timer_callback() override

Timer callback where SDO and PDO reads are executed.

Template Parameters:: NODETYPE –

virtual void on_rpdo(COData data) override

Set availability.

Template Parameters:: NODETYPE –
Parameters:: d –

void publish_timer_callback()

Timer callback where topics are published.

Template Parameters:: NODETYPE –

Protected Attributes

std::shared_ptr<Battery> battery_

rclcpp::TimerBase::SharedPtr timer_

rclcpp::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr publish_battery_state_

rclcpp::Publisher<canopen_inventus_interfaces::msg::Status>::SharedPtr publish_battery_status_

rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr publish_soc_

rclcpp::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr publish_virtual_battery_state_

rclcpp::Publisher<canopen_inventus_interfaces::msg::VirtualBattery>::SharedPtr publish_virtual_battery_status_

rclcpp::TimerBase::SharedPtr publish_timer_

bool is_master_

std::string location_

uint32_t publish_ms_

int delay_count_