Class ProxyDriver

• Defined in File proxy_driver.hpp

Inheritance Relationships

Base Type

• public ros2_canopen::CanopenDriver

Class Documentation

class ProxyDriver : public ros2_canopen::CanopenDriver

Abstract Class for a CANopen Device Node.

This class provides the base functionality for creating a CANopen device node. It provides callbacks for nmt and rpdo.

Public Functions

ProxyDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())

inline virtual bool reset_node_nmt_command()

inline virtual bool start_node_nmt_command()

inline virtual bool tpdo_transmit(ros2_canopen::COData &data)

inline virtual bool sdo_write(ros2_canopen::COData &data)

inline virtual bool sdo_read(ros2_canopen::COData &data)

inline void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)

inline void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)