EMCY.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef EMCY_H
#define EMCY_H

#include <boost/shared_ptr.hpp>
#include "helper.h"
#include "SDO.h"

namespace icl_hardware {
namespace canopen_schunk {

class EMCY
{
public:
  typedef boost::shared_ptr<EMCY> Ptr;
  typedef boost::shared_ptr<const EMCY> ConstPtr;

  enum eEMCY_STATUS
  {
    EMCY_STATE_ERROR_FREE,
    EMCY_STATE_ERROR_OCCURED
  };

  static const uint16_t EMCY_ERROR_RESET_NO_ERROR = 0x0000;

  EMCY(const uint8_t node_id);

  virtual void update(const CanMsg& msg);

  eEMCY_STATUS getEmcyStatus() const;

  bool getErrorInformation(uint16_t& eec, uint8_t& error_register, std::vector<uint8_t>& msef);

  static void addEmergencyErrorMap(const std::string& filename, const std::string& block_identifier);

  static void addErrorRegisterMap(const std::string& filename, const std::string& block_identifier);

  void printLastErrors( SDO& sdo );

  void printError (SDO& sdo, const uint8_t error_nr = 1);

  void clearErrorHistory(SDO& sdo);


protected:
  virtual std::string lookupMSEFString () const;

private:
  static std::string lookupEECString(const uint16_t error_code);
  static std::string lookupErrorRegisterString(const uint8_t error_code);

  uint8_t m_node_id;

  std::vector<uint8_t> m_msef;

  uint8_t m_error_register;

  uint16_t m_eec;

  eEMCY_STATUS m_error_state;

  boost::mutex m_data_buffer_mutex;

  static std::map<uint16_t, std::string> m_eec_map;
  static std::map<uint8_t, std::string> m_error_register_map;
};


}} // end of NS

#endif // EMCY_H