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Improve cleanup and shutdown of modules and master #201

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3 changes: 3 additions & 0 deletions ethercat_driver/include/ethercat_driver/ethercat_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,9 @@ class EthercatDriver : public hardware_interface::SystemInterface
ETHERCAT_DRIVER_PUBLIC
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;

ETHERCAT_DRIVER_PUBLIC
CallbackReturn on_cleanup(const rclcpp_lifecycle::State & previous_state) override;

ETHERCAT_DRIVER_PUBLIC
hardware_interface::return_type read(const rclcpp::Time &, const rclcpp::Duration &) override;

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11 changes: 11 additions & 0 deletions ethercat_driver/src/ethercat_driver.cpp
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Expand Up @@ -372,6 +372,17 @@ CallbackReturn EthercatDriver::on_deactivate(
return CallbackReturn::SUCCESS;
}

CallbackReturn EthercatDriver::on_cleanup(
const rclcpp_lifecycle::State & /*previous_state*/)
{
ec_modules_.clear();

RCLCPP_INFO(
rclcpp::get_logger("EthercatDriver"), "System successfully cleaned up!");

return CallbackReturn::SUCCESS;
}

hardware_interface::return_type EthercatDriver::read(
const rclcpp::Time & /*time*/,
const rclcpp::Duration & /*period*/)
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1 change: 1 addition & 0 deletions ethercat_interface/src/ec_master.cpp
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Expand Up @@ -74,6 +74,7 @@ EcMaster::~EcMaster()
delete domain.second;
}
}
ecrt_release_master(master_);
}

void EcMaster::addSlave(uint16_t alias, uint16_t position, EcSlave * slave)
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