Template Class NodeCanopenBaseDriver

Defined in File node_canopen_base_driver.hpp

Inheritance Relationships

Base Type

public NodeCanopenDriver< NODETYPE >

Class Documentation

template<class NODETYPE> class NodeCanopenBaseDriver : public NodeCanopenDriver<NODETYPE>

Public Functions

NodeCanopenBaseDriver(NODETYPE *node)

inline virtual ~NodeCanopenBaseDriver()

virtual void init(bool called_from_base)

virtual void configure(bool called_from_base)

virtual void activate(bool called_from_base)

virtual void deactivate(bool called_from_base)

virtual void cleanup(bool called_from_base)

virtual void shutdown(bool called_from_base)

virtual void add_to_master()

virtual void remove_from_master()

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

Register a callback for NMT state change.

Parameters:: nmt_state_cb –

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

Register a callback for RPDO.

Parameters:: rpdo_cb –

inline void register_emcy_cb(std::function<void(COEmcy, uint8_t)> emcy_cb)

Register a callback for EMCY.

Parameters:: emcy_cb –

Protected Functions

virtual void poll_timer_callback()

void nmt_listener()

virtual void on_nmt(canopen::NmtState nmt_state)

void rdpo_listener()

virtual void on_rpdo(COData data)

void emcy_listener()

virtual void on_emcy(COEmcy emcy)

virtual void diagnostic_callback(diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Attributes

std::thread nmt_state_publisher_thread_

std::thread rpdo_publisher_thread_

std::thread emcy_publisher_thread_

std::mutex driver_mutex_

std::shared_ptr<ros2_canopen::LelyDriverBridge> lely_driver_

uint32_t period_ms_

int sdo_timeout_ms_

bool polling_

std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb_

std::function<void(COData, uint8_t)> rpdo_cb_

std::function<void(COEmcy, uint8_t)> emcy_cb_

std::shared_ptr<ros2_canopen::SafeQueue<ros2_canopen::COEmcy>> emcy_queue_

std::shared_ptr<ros2_canopen::SafeQueue<ros2_canopen::COData>> rpdo_queue_

rclcpp::TimerBase::SharedPtr poll_timer_

std::atomic<bool> diagnostic_enabled_

uint32_t diagnostic_period_ms_

std::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_

std::shared_ptr<DiagnosticsCollector> diagnostic_collector_