CanDriveItf.h

Go to the documentation of this file.

/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef CANDRIVEITF_INCLUDEDEF_H
#define CANDRIVEITF_INCLUDEDEF_H

//-----------------------------------------------
#include <cob_generic_can/CanItf.h>
#include <cob_canopen_motor/DriveParam.h>
#include <cob_canopen_motor/SDOSegmented.h>
//-----------------------------------------------

class CanDriveItf
{
public:
        enum MotionType
        {
                MOTIONTYPE_VELCTRL,
        MOTIONTYPE_TORQUECTRL,
                MOTIONTYPE_POSCTRL
        };

        virtual void setCanItf(CanItf* pCanItf) = 0;

        virtual bool init() = 0;

        virtual bool isInitialized() = 0;

        virtual bool start() = 0;

        virtual bool stop() = 0;

        virtual bool reset() = 0;

        virtual bool shutdown() = 0;

        virtual bool disableBrake(bool bDisabled) = 0;

        virtual bool initHoming() = 0;

        virtual bool execHoming() = 0;

        virtual double getTimeToLastMsg() = 0;

        virtual bool getStatusLimitSwitch() = 0;

        virtual bool startWatchdog(bool bStarted) = 0;

        virtual bool evalReceivedMsg(CanMsg& msg) = 0;

        virtual bool evalReceivedMsg() = 0;

        virtual void setGearPosVelRadS(double dPosRad, double dVelRadS) = 0;

        virtual void setGearVelRadS(double dVelRadS) = 0;

        virtual bool setTypeMotion(int iType) = 0;

        virtual void getGearPosVelRadS(double* pdAngleGearRad, double* pdVelGearRadS) = 0;

        virtual void getGearDeltaPosVelRadS(double* pdDeltaAngleGearRad, double* pdVelGearRadS) = 0;

        virtual void getGearPosRad(double* pdPosGearRad) = 0;

        virtual void setDriveParam(DriveParam driveParam) = 0;

        virtual bool isError() = 0;

        virtual unsigned int getError() = 0;

        virtual void requestPosVel() = 0;

        virtual void requestStatus() = 0;

        virtual void getStatus(int* piStatus, int* piTempCel) = 0;

        virtual bool setEMStop() = 0;

        virtual bool resetEMStop() = 0;

        virtual void IntprtSetInt(int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, int iData) = 0;

    virtual     int setRecorder(int iFlag, int iParam = 0, std::string sParam = "/home/MyLog") = 0;

        virtual void requestMotorTorque() = 0;

        virtual void getMotorTorque(double* dTorqueNm) = 0;

    virtual void setMotorTorque(double dTorqueNm) = 0;
};


//-----------------------------------------------
#endif