riq_hand_command.h

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#ifndef RIQ_HAND_ETHERCAT_HARDWARE__RIQ_HAND_COMMAND_H
#define RIQ_HAND_ETHERCAT_HARDWARE__RIQ_HAND_COMMAND_H

#include <stdint.h>

namespace riq_hand_ethercat_hardware
{


struct RIQActionRequest
{
  union {
    uint8_t raw_;
    struct {
      uint8_t initialize_    : 1;  
      uint8_t mode_          : 2;  
      uint8_t grip_          : 2;  
      uint8_t parital_open_  : 1;  
      uint8_t partial_close_ : 1;  
      uint8_t reserved       : 1;
      } __attribute__ ((__packed__));
    } __attribute__ ((__packed__));

  enum {CYLINDRICAL_MODE=0, PINCH_MODE=1, SPHERIOD_MODE=2, SCISSORS_MODE=3};
  enum {GRIP_STOP=0, GRIP_OPEN=1, GRIP_CLOSE=2, GRIP_STOP_X=3};
  enum {OPEN_MAX=0, OPEN_PARTIAL=1};
  enum {CLOSE_MAX=0, CLOSE_PARTIAL=1};

  static const char* modeString(unsigned mode);
  static const char* gripString(unsigned grip);

  const char* modeString() const {return modeString(mode_);}
  const char* gripString() const {return gripString(grip_);}
  
} __attribute__ ((__packed__));  


struct RIQSafetyShutdown
{
  union {
    uint8_t raw_;
    struct {
      uint8_t reserved_    : 4;  
      uint8_t timeout_     : 4;
    } __attribute__ ((__packed__));
  } __attribute__ ((__packed__));

  enum {SHUTDOWN_TIMEOUT_NONE=0, 
        SHUTDOWN_TIMEOUT_20ms=1, 
        SHUTDOWN_TIMEOUT_40ms=2,
        SHUTDOWN_TIMEOUT_80ms=3,
        SHUTDOWN_TIMEOUT_160ms=4,
        SHUTDOWN_TIMEOUT_320ms=5,
        SHUTDOWN_TIMEOUT_640ms=6,
        SHUTDOWN_TIMEOUT_1280ms=7,
        SHUTDOWN_TIMEOUT_2560ms=8,
        SHUTDOWN_TIMEOUT_5120ms=9,
        SHUTDOWN_TIMEOUT_10240ms=10};
} __attribute__ ((__packed__));



struct RIQHandCommandEcat
{
  RIQActionRequest action_request_;
  RIQSafetyShutdown safety_shutdown_; 
  uint8_t velocity_;
  uint8_t force_;
  uint8_t partial_open_;
  uint8_t partial_close_;
  uint8_t empty_[6];

  void zero();
} __attribute__ ((__packed__));



}; //namespace riq_hand_ethercat_hardware


#endif /* RIQ_HAND_ETHERCAT_HARDWARE__RIQ_HAND_COMMAND_H */