#include <motor.h>

Inheritance diagram for canopen::Motor402:

Classes
class	Allocator

Public Member Functions
virtual bool	enterModeAndWait (uint16_t mode)

virtual uint16_t	getMode ()

virtual bool	isModeSupported (uint16_t mode)

	Motor402 (const std::string &name, ObjectStorageSharedPtr storage, const canopen::Settings &settings)

virtual void	registerDefaultModes (ObjectStorageSharedPtr storage)

template<typename T >
bool	registerMode (uint16_t mode)

template<typename T , typename T1 >
bool	registerMode (uint16_t mode, const T1 &t1)

template<typename T , typename T1 , typename T2 >
bool	registerMode (uint16_t mode, const T1 &t1, const T2 &t2)

virtual bool	setTarget (double val)

Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)

LayerState	getLayerState ()

void	halt (LayerStatus &status)

void	init (LayerStatus &status)

	Layer (const std::string &n)

void	read (LayerStatus &status)

void	recover (LayerStatus &status)

void	shutdown (LayerStatus &status)

void	write (LayerStatus &status)

virtual	~Layer ()

Protected Member Functions
virtual void	handleDiag (LayerReport &report)

virtual void	handleHalt (LayerStatus &status)

virtual void	handleInit (LayerStatus &status)

virtual void	handleRead (LayerStatus &status, const LayerState &current_state)

virtual void	handleRecover (LayerStatus &status)

virtual void	handleShutdown (LayerStatus &status)

virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)

Protected Member Functions inherited from canopen::MotorBase
	MotorBase (const std::string &name)

Private Types
typedef boost::function< void()>	AllocFuncType

Private Member Functions
ModeSharedPtr	allocMode (uint16_t mode)

template<typename T , typename T1 >
void	createAndRegister (uint16_t mode, const T1 &t1)

template<typename T , typename T1 , typename T2 >
void	createAndRegister (uint16_t mode, const T1 &t1, const T2 &t2)

template<typename T >
void	createAndRegister0 (uint16_t mode)

virtual bool	isModeSupportedByDevice (uint16_t mode)

bool	readState (LayerStatus &status, const LayerState &current_state)

void	registerMode (uint16_t id, const ModeSharedPtr &m)

bool	switchMode (LayerStatus &status, uint16_t mode)

bool	switchState (LayerStatus &status, const State402::InternalState &target)

Private Attributes
uint16_t	control_word_

canopen::ObjectStorage::Entry< uint16_t >	control_word_entry_

boost::mutex	cw_mutex_

boost::mutex	map_mutex_

boost::unordered_map< uint16_t, AllocFuncType >	mode_allocators_

boost::condition_variable	mode_cond_

uint16_t	mode_id_

boost::mutex	mode_mutex_

boost::unordered_map< uint16_t, ModeSharedPtr >	modes_

const bool	monitor_mode_

canopen::ObjectStorage::Entry< int8_t >	op_mode_

canopen::ObjectStorage::Entry< int8_t >	op_mode_display_

ModeSharedPtr	selected_mode_

boost::atomic< bool >	start_fault_reset_

State402	state_handler_

const boost::chrono::seconds	state_switch_timeout_

boost::atomic< uint16_t >	status_word_

canopen::ObjectStorage::Entry< uint16_t >	status_word_entry_

canopen::ObjectStorage::Entry< uint32_t >	supported_drive_modes_

const State402::InternalState	switching_state_

boost::atomic< State402::InternalState >	target_state_

Additional Inherited Members
Public Types inherited from canopen::MotorBase
typedef boost::shared_ptr< MotorBase >	MotorBaseSharedPtr

enum	OperationMode { No_Mode = 0, Profiled_Position = 1, Velocity = 2, Profiled_Velocity = 3, Profiled_Torque = 4, Reserved = 5, Homing = 6, Interpolated_Position = 7, Cyclic_Synchronous_Position = 8, Cyclic_Synchronous_Velocity = 9, Cyclic_Synchronous_Torque = 10 }

Public Types inherited from canopen::Layer
enum	LayerState

Public Attributes inherited from canopen::Layer
	Error

	Halt

	Init

const std::string	name

	Off

	Ready

	Recover

	Shutdown

Detailed Description

Definition at line 291 of file motor.h.

Member Typedef Documentation

typedef boost::function<void()> canopen::Motor402::AllocFuncType

private

Definition at line 383 of file motor.h.

Constructor & Destructor Documentation

canopen::Motor402::Motor402	(	const std::string &	name,
		ObjectStorageSharedPtr	storage,
		const canopen::Settings &	settings
	)

inline

Definition at line 295 of file motor.h.

Member Function Documentation

ModeSharedPtr canopen::Motor402::allocMode ( uint16_t mode )

private

Definition at line 278 of file motor.cpp.

template<typename T , typename T1 >

void canopen::Motor402::createAndRegister	(	uint16_t	mode,
		const T1 &	t1
	)

inlineprivate

Definition at line 356 of file motor.h.

template<typename T , typename T1 , typename T2 >

void canopen::Motor402::createAndRegister	(	uint16_t	mode,
		const T1 &	t1,
		const T2 &	t2
	)

inlineprivate

Definition at line 359 of file motor.h.

template<typename T >

void canopen::Motor402::createAndRegister0 ( uint16_t mode )

inlineprivate

Definition at line 353 of file motor.h.

bool canopen::Motor402::enterModeAndWait ( uint16_t mode )

virtual

Implements canopen::MotorBase.

Definition at line 253 of file motor.cpp.

uint16_t canopen::Motor402::getMode ( )

virtual

Implements canopen::MotorBase.

Definition at line 262 of file motor.cpp.

void canopen::Motor402::handleDiag ( LayerReport & report )

protectedvirtual

Implements canopen::Layer.

Definition at line 437 of file motor.cpp.

void canopen::Motor402::handleHalt ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 517 of file motor.cpp.

void canopen::Motor402::handleInit ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 470 of file motor.cpp.

void canopen::Motor402::handleRead	(	LayerStatus &	status,
		const LayerState &	current_state
	)

protectedvirtual

Implements canopen::Layer.

Definition at line 408 of file motor.cpp.

void canopen::Motor402::handleRecover ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 533 of file motor.cpp.

void canopen::Motor402::handleShutdown ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 513 of file motor.cpp.

void canopen::Motor402::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)

protectedvirtual

Implements canopen::Layer.

Definition at line 413 of file motor.cpp.

bool canopen::Motor402::isModeSupported ( uint16_t mode )

virtual

Implements canopen::MotorBase.

Definition at line 251 of file motor.cpp.

bool canopen::Motor402::isModeSupportedByDevice ( uint16_t mode )

privatevirtual

Definition at line 267 of file motor.cpp.

bool canopen::Motor402::readState	(	LayerStatus &	status,
		const LayerState &	current_state
	)

private

Definition at line 378 of file motor.cpp.

virtual void canopen::Motor402::registerDefaultModes ( ObjectStorageSharedPtr storage )

inlinevirtual

Reimplemented from canopen::MotorBase.

Definition at line 327 of file motor.h.

template<typename T >

bool canopen::Motor402::registerMode ( uint16_t mode )

inline

Definition at line 317 of file motor.h.

template<typename T , typename T1 >

bool canopen::Motor402::registerMode	(	uint16_t	mode,
		const T1 &	t1
	)

inline

Definition at line 320 of file motor.h.

template<typename T , typename T1 , typename T2 >

bool canopen::Motor402::registerMode	(	uint16_t	mode,
		const T1 &	t1,
		const T2 &	t2
	)

inline

Definition at line 323 of file motor.h.

void canopen::Motor402::registerMode	(	uint16_t	id,
		const ModeSharedPtr &	m
	)

private

Definition at line 273 of file motor.cpp.

bool canopen::Motor402::setTarget ( double val )

virtual

Implements canopen::MotorBase.

Definition at line 244 of file motor.cpp.

bool canopen::Motor402::switchMode	(	LayerStatus &	status,
		uint16_t	mode
	)

private

Definition at line 290 of file motor.cpp.

bool canopen::Motor402::switchState	(	LayerStatus &	status,
		const State402::InternalState &	target
	)

private

Definition at line 358 of file motor.cpp.

Member Data Documentation

uint16_t canopen::Motor402::control_word_

private

Definition at line 373 of file motor.h.

canopen::ObjectStorage::Entry<uint16_t > canopen::Motor402::control_word_entry_

private

Definition at line 395 of file motor.h.

boost::mutex canopen::Motor402::cw_mutex_

private

Definition at line 374 of file motor.h.

boost::mutex canopen::Motor402::map_mutex_

private

Definition at line 381 of file motor.h.

boost::unordered_map<uint16_t, AllocFuncType> canopen::Motor402::mode_allocators_

private

Definition at line 384 of file motor.h.

boost::condition_variable canopen::Motor402::mode_cond_

private

Definition at line 388 of file motor.h.

uint16_t canopen::Motor402::mode_id_

private

Definition at line 387 of file motor.h.

boost::mutex canopen::Motor402::mode_mutex_

private

Definition at line 389 of file motor.h.

boost::unordered_map<uint16_t, ModeSharedPtr > canopen::Motor402::modes_

private

Definition at line 382 of file motor.h.

const bool canopen::Motor402::monitor_mode_

private

Definition at line 391 of file motor.h.

canopen::ObjectStorage::Entry<int8_t> canopen::Motor402::op_mode_

private

Definition at line 397 of file motor.h.

canopen::ObjectStorage::Entry<int8_t> canopen::Motor402::op_mode_display_

private

Definition at line 396 of file motor.h.

ModeSharedPtr canopen::Motor402::selected_mode_

private

Definition at line 386 of file motor.h.

boost::atomic<bool> canopen::Motor402::start_fault_reset_

private

Definition at line 375 of file motor.h.

State402 canopen::Motor402::state_handler_

private

Definition at line 379 of file motor.h.

const boost::chrono::seconds canopen::Motor402::state_switch_timeout_

private

Definition at line 392 of file motor.h.

boost::atomic<uint16_t> canopen::Motor402::status_word_

private

Definition at line 372 of file motor.h.

canopen::ObjectStorage::Entry<uint16_t> canopen::Motor402::status_word_entry_

private

Definition at line 394 of file motor.h.

canopen::ObjectStorage::Entry<uint32_t> canopen::Motor402::supported_drive_modes_

private

Definition at line 398 of file motor.h.

const State402::InternalState canopen::Motor402::switching_state_

private

Definition at line 390 of file motor.h.

boost::atomic<State402::InternalState> canopen::Motor402::target_state_

private

Definition at line 376 of file motor.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation