Class CanopenSystem

• Defined in File canopen_system.hpp

Inheritance Relationships

Base Type

• public hardware_interface::SystemInterface

Derived Type

• public canopen_ros2_control::Cia402System (Class Cia402System)

Class Documentation

class CanopenSystem : public hardware_interface::SystemInterface

Subclassed by canopen_ros2_control::Cia402System

Public Functions

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC CanopenSystem()

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC ~CanopenSystem()

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_init (const hardware_interface::HardwareInfo &info) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC std::vector< hardware_interface::StateInterface > export_state_interfaces () override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC std::vector< hardware_interface::CommandInterface > export_command_interfaces () override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_shutdown (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::return_type read (const rclcpp::Time &time, const rclcpp::Duration &period) override

CANOPEN_ROS2_CONTROL__VISIBILITY_PUBLIC hardware_interface::return_type write (const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Functions

void spin()

void clean()

Protected Attributes

std::shared_ptr<ros2_canopen::DeviceContainer> device_container_

std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_

std::map<uint, CanopenNodeData> canopen_data_

std::unique_ptr<std::thread> spin_thread_

std::unique_ptr<std::thread> init_thread_