tmcl_interpreter.h

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#ifndef TMCL_INTERPRETER_H
#define TMCL_INTERPRETER_H
 
#include <future>
#include <chrono>
#include <vector>
#include <algorithm>
 
#include "socket_can_wrapper.h"
 
const uint8_t TMCL_MSG_SZ = 7;
const uint8_t TMCL_MSG_VALUE_SZ = 4;
 
/*******************************************************************************/
/*                        Interface related settings                           */
/*******************************************************************************/
 
/* Supported interfaces */
typedef enum
{
  TMCL_INTERFACE_CAN = 0, /* 0 - CAN Interface */
  TMCL_INTERFACE_MAX,     /* This should not be used */
} tmcl_interface_t;
 
/* Supported interface's configurations */
/* Note: So far, these are all needed for CAN. Once other interfaces are added,
         convert this tmcl_cfg_t to a union then include different tmcl_cfg_<interface>_t as members. */
typedef struct 
{
  SocketCAN *p_socket_can;
  std::string interface_name;
  uint16_t tx_id;
  uint16_t rx_id;
} tmcl_cfg_t;
 
/*******************************************************************************/
/*                      TMCL protocol related settings                         */
/*******************************************************************************/
 
/* Possible values for <Command> */ 
typedef enum
{
  TMCL_CMD_ROR = 1,       /*   1 - Rotate right */
  TMCL_CMD_ROL,           /*   2 - Rotate left */
  TMCL_CMD_MST,           /*   3 - Motor stop */
  TMCL_CMD_MVP,           /*   4 - Move to position */
  TMCL_CMD_SAP,           /*   5 - Set axis parameter */
  TMCL_CMD_GAP,           /*   6 - Get axis parameter */
  TMCL_CMD_SGP = 9,       /*   9 - Set global parameter */
  TMCL_CMD_GGP,           /*  10 - Get global parameter */
  TMCL_CMD_APPGFWV = 136, /* 136 - Get firmware version */
  TMCL_CMD_MAX            /* This should not be used */
} tmcl_cmd_t;
 
/* Possible values for <Status> */
typedef enum
{
  TMCL_STS_ERR_CHKSUM = 1,
  TMCL_STS_ERR_CMD,
  TMCL_STS_ERR_TYPE,
  TMCL_STS_ERR_VAL,
  TMCL_STS_ERR_EEPROM_LCK,
  TMCL_STS_ERR_CMD_NA,
  TMCL_STS_ERR_NONE = 100,
  TMCL_STS_CMD_LOADED,
  TMCL_STS_MAX            /* This should not be used */
} tmcl_sts_t;
 
/* Definition for info needed to execute 1 TMCL command */
typedef struct
{
  uint16_t tx_id;                     /* Module Address */
  uint16_t rx_id;                     /* <Reply Address */
  tmcl_cmd_t cmd;                     /* <Command> */
  uint8_t type;                           /* <Type> */
  uint8_t motor;                      /* <Motor> */
  uint8_t value[TMCL_MSG_VALUE_SZ];   /* 4-byte value */
  tmcl_sts_t sts;
} tmcl_msg_t;
 
/* Class definition for TMCL Interpreter */
class TmclInterpreter 
{
public:
  /* Constructor */
  TmclInterpreter(uint16_t timeout_ms, uint8_t comm_exec_cmd_retries, 
    std::vector<std::string> param_ap_name, std::vector<int> param_ap_type);
 
  /* Destructor */
  ~TmclInterpreter();
 
  /* Reset interface */
  bool resetInterface();
 
  /* Execute command where type is a number */
  bool executeCmd(tmcl_cmd_t cmd, uint8_t type, uint8_t motor, int32_t *val);
 
  /* Execute command where type is a string(only available in ap_name_)*/
  bool executeCmd(tmcl_cmd_t cmd, std::string type, uint8_t motor, int32_t *val);
 
  /* Shutdown interface */
  bool shutdownInterface();
 
  /* Getter b_retries_exceeded variable */
  bool getRetriesExceededStatus();
 
  tmcl_interface_t tmcl_interface_;
  tmcl_cfg_t tmcl_cfg_;
  
private:
  bool interface_enabled_;
  uint16_t timeout_ms_;
  uint8_t comm_exec_cmd_retries_;
  std::vector<std::string> param_ap_name_;
  std::vector<int> param_ap_type_;
 
  bool b_retries_exceeded_;
};
 
#endif /* _TMCL_INTERPRETER_H */