DS402Node.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 DS402NODE_H
#define DS402NODE_H

#include "DS301Node.h"

#include "ds402.h"


namespace icl_hardware {
namespace canopen_schunk {

  class DS402Node : public DS301Node
{
public:
  typedef boost::shared_ptr<DS402Node> Ptr;
  typedef boost::shared_ptr<const DS402Node> ConstPtr;

  enum eDefaultPDOMapping
  {
    PDO_MAPPING_CONTROLWORD_STATUSWORD,
    PDO_MAPPING_INTERPOLATED_POSITION_MODE,
    PDO_MAPPING_PROFILE_POSITION_MODE
  };

  DS402Node(const uint8_t node_id, const icl_hardware::canopen_schunk::CanDevPtr& can_device, HeartBeatMonitor::Ptr heartbeat_monitor);

  virtual void setNMTState (const NMT::eNMT_State state, const NMT::eNMT_SubState sub_state);

  virtual bool setTarget ( const float target );

  virtual void startPPMovement ();


  virtual void acceptPPTargets ();

  virtual double getTargetFeedback();

  virtual void setDefaultPDOMapping (const eDefaultPDOMapping mapping);

  virtual void home();

  virtual void initDS402State( const icl_hardware::canopen_schunk::ds402::eState& requested_state );


  ds402::eModeOfOperation getModeOfOperation () const { return m_op_mode; }


  virtual bool setModeOfOperation (const ds402::eModeOfOperation op_mode);

  virtual bool isModeSupported (const ds402::eModeOfOperation op_mode);

  void printSupportedModesOfOperation ();

  virtual void printStatus();

  virtual void quickStop();

  virtual void stopNode();

  virtual void initNode();

  virtual void querySupportedDeviceModes();

  virtual void setupProfilePositionMode (const ds402::ProfilePositionModeConfiguration& config);


  double getTransmissionFactor () const { return m_transmission_factor; }

  void setTransmissionFactor (const double transmission_factor) { m_transmission_factor = transmission_factor; }

  virtual void setupHomingMode (const ds402::HomingModeConfiguration& config);

  virtual void setupProfileVelocityMode (const ds402::ProfileVelocityModeConfiguration& config);

  virtual void setupProfileTorqueMode (const ds402::ProfileTorqueModeConfiguration& config);


  virtual bool resetFault ();


  size_t getMaximumNumberOfStateTransitions () const { return m_max_number_of_state_transitions; }
  void setMaximumNumberOfStateTransitions (const size_t max_number_of_state_transitions) { m_max_number_of_state_transitions = max_number_of_state_transitions; }


  virtual void configureInterpolationCycleTime (const uint8_t interpolation_cycle_time_ms = 8);

  virtual void configureHomingMethod ( const int8_t homing_method );

  virtual void configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed = 0);

  virtual void enableNode (const ds402::eModeOfOperation operation_mode = ds402::MOO_RESERVED_0);

  virtual void disableNode ();

  virtual void openBrakes ();

  virtual void closeBrakes ();

  virtual bool isTargetReached();

  virtual ds402::Statusword getStatus();


protected:
  void configureMaxAcceleration (const uint32_t acceleration);
  void configureMaxDeceleration (const uint32_t deceleration);

  void configureProfileVelocity (const uint32_t velocity);
  void configureProfileAcceleration (const uint32_t acceleration);
  void configureProfileDeceleration (const uint32_t deceleration);
  void configureQuickStopDeceleration (const uint32_t deceleration);
  void configureMotionProfileType (const int16_t motion_type);

  void configureHomingAcceleration (const uint32_t acceleration);

  void configureSensorSelectionCode ( const int16_t sensor_selection_code );

  void configureTorqueSlope ( const uint32_t torque_slope );
  void configureTorqueProfileType ( const int16_t torque_profile_type );

  virtual void configureInterpolationData (const uint8_t buffer_organization = 0,
                                           const int16_t interpolation_type = 0,
                                           const uint8_t size_of_data_record = 4);

  std::string operationModeSpecificStatus ( const ds402::Statusword& statusword );

  void doDS402StateTransition (const ds402::eStateTransission transition);

  virtual void onStatusWordUpdate ();

  ds402::SupportedDriveModes m_supported_modes;

  ds402::eModeOfOperation m_op_mode;

  ds402::eState m_current_ds402_state;
  ds402::eState m_expected_ds402_state;

  ds402::ProfilePositionModeConfiguration m_ppm_config;

  uint8_t m_interpolation_cycle_time_ms;
  size_t m_max_number_of_state_transitions;
  int8_t m_homing_method;
  double m_transmission_factor;
};


}}// end of NS
#endif // DS402NODE_H