From db3a93d92a73e2a798fae825ac8bc260ca98aa8c Mon Sep 17 00:00:00 2001
From: ipa-vsp <vishnu.pbhat93@gmail.com>
Date: Tue, 23 Apr 2024 19:58:04 +0200
Subject: [PATCH] WIP: service interface examples

---
 .../examples/service-interface-examples.rst   | 66 +++++++++++++++++++
 canopen/sphinx/index.rst                      |  9 ++-
 canopen_tests/CMakeLists.txt                  |  2 +-
 canopen_tests/config/simple/bus.yml           | 15 ++---
 4 files changed, 81 insertions(+), 11 deletions(-)
 create mode 100644 canopen/sphinx/examples/service-interface-examples.rst

diff --git a/canopen/sphinx/examples/service-interface-examples.rst b/canopen/sphinx/examples/service-interface-examples.rst
new file mode 100644
index 00000000..8afdc436
--- /dev/null
+++ b/canopen/sphinx/examples/service-interface-examples.rst
@@ -0,0 +1,66 @@
+Service Interface Examples
+==========================
+
+Before running these examples, ensure that to :ref:`start the vcan0 interface <quick-start-setup-can-controller>`. 
+You can find these examples in the ``canopen_test`` package.
+
+Proxy Driver Examples
+---------------------
+A proxy driver provides a simple way to forward CANopen functionalities for a specific device using ROS2 services and messages. For more details on the proxy driver, see :doc:`../user-guide/proxy-driver`.
+
+Configuring ``bus.yaml``
+~~~~~~~~~~~~~~~~~~~~~~~~
+The configuration for the proxy driver is specified in the ``bus.yaml`` file. Here's an example configuration:
+
+.. code-block:: yaml
+    
+    options:
+        dcf_path: "@BUS_CONFIG_PATH@"
+
+    master:
+        node_id: 1
+        driver: "ros2_canopen::MasterDriver"
+        package: "canopen_master_driver"
+
+    defaults:
+        dcf: "simple.eds"
+        driver: "ros2_canopen::ProxyDriver"
+        package: "canopen_proxy_driver"
+        polling: true
+        period: 10
+
+    nodes:
+        proxy_device_1:
+            node_id: 2
+        proxy_device_2:
+            node_id: 3
+
+For further details about the configuration, refer to :doc:`../user-guide/configuration`. Additionally, add ``cogen_dcf(simple)`` in the *CMakeLists.txt* file to generate the necessary artifacts for the proxy driver.
+
+Running the Proxy Driver Examples
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+To launch the proxy driver setup, use the following command:
+
+.. code-block:: bash
+
+    $ ros2 launch canopen_tests proxy_setup.launch.py
+
+Verify that all services are available by running the ROS2 topic and service list commands. To conduct a test:
+
+.. code-block:: bash
+
+    $ ros2 topic pub /proxy_device_1/tpdo canopen_interfaces/msg/COData "{ index: 0x4000, subindex: 0, data: 200 }"
+
+Check the output by running:
+
+.. code-block:: bash
+
+    $ ros2 topic echo /proxy_device_1/rpdo
+
+.. note::
+
+    These examples use a fake slave device. Running on actual hardware may yield different results. 
+    Always refer to the device's documentation for specific details.
+
+CiA402 Driver Examples
+-----------------------
\ No newline at end of file
diff --git a/canopen/sphinx/index.rst b/canopen/sphinx/index.rst
index 178fca32..7aed1172 100644
--- a/canopen/sphinx/index.rst
+++ b/canopen/sphinx/index.rst
@@ -26,6 +26,13 @@ This is the documentation of the ROS2 CANopen stack.
   user-guide/how-to-create-a-cia301-system
   user-guide/how-to-create-a-robot-system
 
+.. toctree::
+  :maxdepth: 1
+  :caption: Examples
+  :glob:
+
+  examples/service-interface-examples
+
 
 .. toctree::
   :maxdepth: 1
@@ -37,7 +44,7 @@ This is the documentation of the ROS2 CANopen stack.
   developers-guide/architecture
   developers-guide/new-driver
   developers-guide/new-master
-  API Reference <https://ros-industrial.github.io/ros2_canopen/api/>
+  API Reference <https://ros-industrial.github.io/ros2_canopen/api/rolling/>
 
 .. toctree::
   :maxdepth: 1
diff --git a/canopen_tests/CMakeLists.txt b/canopen_tests/CMakeLists.txt
index f2f7c052..8374bf3d 100644
--- a/canopen_tests/CMakeLists.txt
+++ b/canopen_tests/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(ament_cmake REQUIRED)
 find_package(lely_core_libraries REQUIRED)
 
 
-generate_dcf(simple)
+cogen_dcf(simple)
 generate_dcf(canopen_system)
 cogen_dcf(cia402_system)
 cogen_dcf(cia402_namespaced_system)
diff --git a/canopen_tests/config/simple/bus.yml b/canopen_tests/config/simple/bus.yml
index 8b26d4e8..cc8bc0ae 100644
--- a/canopen_tests/config/simple/bus.yml
+++ b/canopen_tests/config/simple/bus.yml
@@ -6,18 +6,15 @@ master:
   driver: "ros2_canopen::MasterDriver"
   package: "canopen_master_driver"
 
-proxy_device_1:
-  node_id: 2
+defaults:
   dcf: "simple.eds"
   driver: "ros2_canopen::ProxyDriver"
   package: "canopen_proxy_driver"
   polling: true
   period: 10
 
-proxy_device_2:
-  node_id: 3
-  dcf: "simple.eds"
-  driver: "ros2_canopen::ProxyDriver"
-  package: "canopen_proxy_driver"
-  polling: true
-  period: 10
+nodes:
+  proxy_device_1:
+    node_id: 2
+  proxy_device_2:
+    node_id: 3