Program Listing for File state.hpp
↰ Return to documentation for file (include/canopen_402_driver/state.hpp
)
// Copyright 2023 Christoph Hellmann Santos
// Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
//
#ifndef CANOPEN_402_DRIVER_STATE_HPP
#define CANOPEN_402_DRIVER_STATE_HPP
#include <chrono>
#include <condition_variable>
#include <mutex>
namespace ros2_canopen
{
class State402
{
public:
enum StatusWord
{
SW_Ready_To_Switch_On = 0,
SW_Switched_On = 1,
SW_Operation_enabled = 2,
SW_Fault = 3,
SW_Voltage_enabled = 4,
SW_Quick_stop = 5,
SW_Switch_on_disabled = 6,
SW_Warning = 7,
SW_Manufacturer_specific0 = 8,
SW_Remote = 9,
SW_Target_reached = 10,
SW_Internal_limit = 11,
SW_Operation_mode_specific0 = 12,
SW_Operation_mode_specific1 = 13,
SW_Manufacturer_specific1 = 14,
SW_Manufacturer_specific2 = 15
};
enum InternalState
{
Unknown = 0,
Start = 0,
Not_Ready_To_Switch_On = 1,
Switch_On_Disabled = 2,
Ready_To_Switch_On = 3,
Switched_On = 4,
Operation_Enable = 5,
Quick_Stop_Active = 6,
Fault_Reaction_Active = 7,
Fault = 8,
};
InternalState getState();
InternalState read(uint16_t sw);
bool waitForNewState(
const std::chrono::steady_clock::time_point & abstime, InternalState & state);
State402() : state_(Unknown) {}
private:
std::condition_variable cond_;
std::mutex mutex_;
InternalState state_;
};
} // namespace ros2_canopen
#endif // CANOPEN_402_DRIVER_STATE_HPP