Merge pull request #314 from ipa-vsp/impl_set_operation_mode

Remove multiple mode set functions.
ros-industrial · Dec 12, 2024 · f1fef24 · f1fef24
2 parents eb219eb + 8671938
commit f1fef24
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Showing 5 changed files with 35 additions and 270 deletions.
diff --git a/canopen_402_driver/include/canopen_402_driver/cia402_driver.hpp b/canopen_402_driver/include/canopen_402_driver/cia402_driver.hpp
@@ -81,23 +81,6 @@ class Cia402Driver : public ros2_canopen::CanopenDriver
 
   bool halt_motor() { return node_canopen_402_driver_->halt_motor(); }
 
-  bool set_mode_position() { return node_canopen_402_driver_->set_mode_position(); }
-
-  bool set_mode_velocity() { return node_canopen_402_driver_->set_mode_velocity(); }
-
-  bool set_mode_cyclic_position() { return node_canopen_402_driver_->set_mode_cyclic_position(); }
-
-  bool set_mode_cyclic_velocity() { return node_canopen_402_driver_->set_mode_cyclic_velocity(); }
-
-  bool set_mode_torque() { return node_canopen_402_driver_->set_mode_torque(); }
-
-  bool set_mode_cyclic_torque() { return node_canopen_402_driver_->set_mode_cyclic_torque(); }
-
-  bool set_mode_interpolated_position()
-  {
-    return node_canopen_402_driver_->set_mode_interpolated_position();
-  }
-
   uint16_t get_mode() { return node_canopen_402_driver_->get_mode(); }
 
   bool set_operation_mode(uint16_t mode)

diff --git a/canopen_402_driver/include/canopen_402_driver/lifecycle_cia402_driver.hpp b/canopen_402_driver/include/canopen_402_driver/lifecycle_cia402_driver.hpp
@@ -83,21 +83,11 @@ class LifecycleCia402Driver : public ros2_canopen::LifecycleCanopenDriver
 
   bool halt_motor() { return node_canopen_402_driver_->halt_motor(); }
 
-  bool set_mode_position() { return node_canopen_402_driver_->set_mode_position(); }
+  uint16_t get_mode() { return node_canopen_402_driver_->get_mode(); }
 
-  bool set_mode_velocity() { return node_canopen_402_driver_->set_mode_velocity(); }
-
-  bool set_mode_cyclic_position() { return node_canopen_402_driver_->set_mode_cyclic_position(); }
-
-  bool set_mode_cyclic_velocity() { return node_canopen_402_driver_->set_mode_cyclic_velocity(); }
-
-  bool set_mode_torque() { return node_canopen_402_driver_->set_mode_torque(); }
-
-  bool set_mode_cyclic_torque() { return node_canopen_402_driver_->set_mode_cyclic_torque(); }
-
-  bool set_mode_interpolated_position()
+  bool set_operation_mode(uint16_t mode)
   {
-    return node_canopen_402_driver_->set_mode_interpolated_position();
+    return node_canopen_402_driver_->set_operation_mode(mode);
   }
 };
 }  // namespace ros2_canopen

diff --git a/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver.hpp b/canopen_402_driver/include/canopen_402_driver/node_interfaces/node_canopen_402_driver.hpp
@@ -157,33 +157,30 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
   bool halt_motor();
 
   /**
-   * @brief Service Callback to set profiled position mode
+   * @brief Service Callback to set operation mode
    *
-   * Calls Motor402::enterModeAndWait with Profiled Position Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Profiled Position Mode.
+   * Calls Motor402::enterModeAndWait with requested Operation Mode.
    *
-   * @param [in] request
+   * @param [in] request Requested Operation Mode as MotorBase::Profiled_Position or
+   * MotorBase::Profiled_Velocity or MotorBase::Profiled_Torque or MotorBase::Cyclic_Position or
+   * MotorBase::Cyclic_Velocity or MotorBase::Cyclic_Torque or MotorBase::Interpolated_Position
    * @param [out] response
    */
-  void handle_set_mode_position(
-    const std_srvs::srv::Trigger::Request::SharedPtr request,
-    std_srvs::srv::Trigger::Response::SharedPtr response);
-
   bool set_operation_mode(uint16_t mode);
 
   /**
-   * @brief Method to set profiled position mode
+   * @brief Service Callback to set profiled position mode
    *
    * Calls Motor402::enterModeAndWait with Profiled Position Mode as
    * Target Operation Mode. If successful, the motor was transitioned
    * to Profiled Position Mode.
    *
-   * @param [in] void
-   *
-   * @return bool
+   * @param [in] request
+   * @param [out] response
    */
-  bool set_mode_position();
+  void handle_set_mode_position(
+    const std_srvs::srv::Trigger::Request::SharedPtr request,
+    std_srvs::srv::Trigger::Response::SharedPtr response);
 
   /**
    * @brief Service Callback to set profiled velocity mode
@@ -199,19 +196,6 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
     const std_srvs::srv::Trigger::Request::SharedPtr request,
     std_srvs::srv::Trigger::Response::SharedPtr response);
 
-  /**
-   * @brief Method to set profiled velocity mode
-   *
-   * Calls Motor402::enterModeAndWait with Profiled Velocity Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Profiled Velocity Mode.
-   *
-   * @param [in] void
-   *
-   * @return bool
-   */
-  bool set_mode_velocity();
-
   /**
    * @brief Service Callback to set cyclic position mode
    *
@@ -240,31 +224,6 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
     const std_srvs::srv::Trigger::Request::SharedPtr request,
     std_srvs::srv::Trigger::Response::SharedPtr response);
 
-  /**
-   * @brief Method to set interpolated position mode
-   *
-   * Calls Motor402::enterModeAndWait with Interpolated Position Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Interpolated Position Mode. This only supports linear mode.
-   *
-   * @param [in] void
-   * @param [out] bool
-   */
-  bool set_mode_interpolated_position();
-
-  /**
-   * @brief Method to set cyclic position mode
-   *
-   * Calls Motor402::enterModeAndWait with Cyclic Position Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Cyclic Position Mode.
-   *
-   * @param [in] void
-   *
-   * @return bool
-   */
-  bool set_mode_cyclic_position();
-
   /**
    * @brief Service Callback to set cyclic velocity mode
    *
@@ -279,19 +238,6 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
     const std_srvs::srv::Trigger::Request::SharedPtr request,
     std_srvs::srv::Trigger::Response::SharedPtr response);
 
-  /**
-   * @brief Method to set cyclic velocity mode
-   *
-   * Calls Motor402::enterModeAndWait with Cyclic Velocity Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Cyclic Velocity Mode.
-   *
-   * @param [in] void
-   *
-   * @return bool
-   */
-  bool set_mode_cyclic_velocity();
-
   /**
    * @brief Service Callback to set profiled torque mode
    *
@@ -306,19 +252,6 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
     const std_srvs::srv::Trigger::Request::SharedPtr request,
     std_srvs::srv::Trigger::Response::SharedPtr response);
 
-  /**
-   * @brief Method to set profiled torque mode
-   *
-   * Calls Motor402::enterModeAndWait with Profiled Torque Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Profiled Torque Mode.
-   *
-   * @param [in] void
-   *
-   * @return bool
-   */
-  bool set_mode_torque();
-
   /**
    * @brief Service Callback to set cyclic torque mode
    *
@@ -333,19 +266,6 @@ class NodeCanopen402Driver : public NodeCanopenProxyDriver<NODETYPE>
     const std_srvs::srv::Trigger::Request::SharedPtr request,
     std_srvs::srv::Trigger::Response::SharedPtr response);
 
-  /**
-   * @brief Method to set cyclic torque mode
-   *
-   * Calls Motor402::enterModeAndWait with Profiled Torque Mode as
-   * Target Operation Mode. If successful, the motor was transitioned
-   * to Profiled Torque Mode.
-   *
-   * @param [in] void
-   *
-   * @return bool
-   */
-  bool set_mode_cyclic_torque();
-
   /**
    * @brief Service Callback to set target
    *