CANOpen_driver.h

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/****************************************************************
 *
 * Copyright (c) 2012
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: CIN-Reha
 * ROS stack name: cob_drivers
 * ROS package name: cob_generic_can
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: 
 * Supervised by:
 *
 * Date of creation: Jan 2012
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL 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 Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef CANOPENMaster_INCLUDEDEF_H
#define CANOPENMaster_INCLUDEDEF_H
//-----------------------------------------------
#include <ros/ros.h>
#include <cob_generic_can/CanItf.h>
#include <libpcan/libpcan.h>
#include <cob_utilities/IniFile.h>
#include <cob_generic_can/CanPeakSysUSB.h>

// Object definitions
#include <CANOpenCiA401_Objects.h>
//-----------------------------------------------

class CANOpenMaster
{
public:
        // --------------- Interface
        CANOpenMaster();
        ~CANOpenMaster();

        int Init();
        int Homing();
        int GetNodeState();
        void PrintMotorStatus();
        int SetSpeed(int); 
        int GetSpeed();
        int GetDIn();
        int Recover(); 
        void SendSYNC();
        int WritePDO(int ,int);
        int WritePDO(CanMsg);

        // --------------- Types
public: 
        int m_CanBaseAddress;
        
        int TxSDO;
        int RxSDO;
        int TxPDO1;
        int RxPDO1;
        int TxPDO2;
        int RxPDO2;
        int TxPDO3;
        int RxPDO3;
        int TxPDO4;
        int RxPDO4;
        int SYNC; 
        int EMCY; 
        int NMT; 
        int HEARTBEAT; 
        int NodeState;
        int ControlerState; 
        
        // motorcommands
        short SWITCH_ON; 
        short SHUTDOWN; 
        short DISABLE_VOLTAGE; 
        short QUICKSTOP;
        short DISABLE_OPERATION;
        short ENABLE_OPERATION; 
        short FAULT_RESET;  
        
        // motorstates
        short Not_Ready_To_Switch_On;
        short Switch_On_Disabled;
        short Ready_To_Switch_On; 
        short Switched_On; 
        short Operation_Enable; 
        short Fault; 
        short Fault_Reaction_Active;
        short Quick_Stop_Active;        
        
        unsigned char CANDownloadHeader;
        
        // statusvariables for state mashine
        bool IS_HOMED;
        bool FAULT_WAS_ACTIVE;
        
private:
        int Lin_Axis_max_speed;

        CanItf* can_itf;
        CANOpenCiA401ObjDirectory* CANObj;      
        // --------------- Methodes
        
        // basic CANOpen functions
        void SYNCLoop(void*);
        bool CANError(CanMsg*);
        bool NodeStateError(CanMsg*);
        unsigned int ReadObject(CANOpenCiA401ObjDirectory::CANOpenObj*);
        int WriteObject(CANOpenCiA401ObjDirectory::CANOpenObj*, int);
        void SendNMT(unsigned char, unsigned char);
        int WaitForHeartbeat();
        int EvaluateControlerState();
        
};
//-----------------------------------------------

#endif