RokubiminiEthercatBusManager.hpp

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#pragma once
 
// std
#include <memory>
#include <mutex>
 
// rokubimini
#include <rokubimini_ethercat/soem_interface/EthercatBusBase.hpp>
 
#include <rokubimini_ethercat/RokubiminiEthercat.hpp>
 
#include <rokubimini_bus_manager/BusManager.hpp>
#include <utility>
namespace rokubimini
{
namespace ethercat
{
using namespace soem_interface;
 
class RokubiminiEthercatBusManager : public RokubiminiBusManager
{
public:
  RokubiminiEthercatBusManager() = delete;
 
  explicit RokubiminiEthercatBusManager(const std::string& busName, NodeHandlePtr nh)
    : RokubiminiBusManager(busName, std::move(nh)){ /* do nothing */ };
 
  explicit RokubiminiEthercatBusManager(const NodeHandlePtr& nh)
    : RokubiminiBusManager(nh){
      /* do nothing */
    };
  ~RokubiminiEthercatBusManager() override = default;
 
  bool startupBus();
 
  bool startupCommunication() override;
 
  void setBusSafeOperational();
 
  void setBusPreOperational();
 
  void setBusOperational();
 
  void waitForState(const uint16_t state, const uint16_t slave = 0, const unsigned int maxRetries = 40,
                    const double retrySleep = 0.001);
 
  void readBus() override;
 
  void writeToBus() override;
 
  void shutdownBus() override;
 
  using RokubiminiBusManager::addRokubiminiToBus;
 
  bool addRokubiminiToBus(const std::shared_ptr<RokubiminiEthercat>& rokubimini,
                          rokubimini::soem_interface::EthercatBusBase* bus) const;
 
  void setConfigMode() override;
 
  void setRunMode() override;
 
  bool createRokubimini(const std::string& rokubiminiName) override;
 
  bool loadBusParameters() override;
 
  double loadTimeStep() override;
 
  void publishBusManagerRosDiagnostics() override{ /* do nothing */ };
 
protected:
  std::recursive_mutex busMutex_;
 
  std::unique_ptr<rokubimini::soem_interface::EthercatBusBase> bus_;
 
  std::string ethercatBusName_;
};
 
using RokubiminiEthercatBusManagerPtr = std::shared_ptr<RokubiminiEthercatBusManager>;
 
}  // namespace ethercat
}  // namespace rokubimini