canopen::Motor402 Class Reference

#include <motor.h>

Inheritance diagram for canopen::Motor402:

List of all members.

Classes
class	Allocator
Public Member Functions
virtual bool	enterModeAndWait (uint16_t mode)
virtual uint16_t	getMode ()
virtual bool	isModeSupported (uint16_t mode)
	Motor402 (const std::string &name, boost::shared_ptr< ObjectStorage > storage, const canopen::Settings &settings)
virtual void	registerDefaultModes (boost::shared_ptr< ObjectStorage > storage)
template<typename T >
bool	registerMode (uint16_t mode)
template<typename T , typename T1 >
bool	registerMode (uint16_t mode, const T1 &t1)
template<typename T , typename T1 , typename T2 >
bool	registerMode (uint16_t mode, const T1 &t1, const T2 &t2)
virtual bool	setTarget (double val)
Protected Member Functions
virtual void	handleDiag (LayerReport &report)
virtual void	handleHalt (LayerStatus &status)
virtual void	handleInit (LayerStatus &status)
virtual void	handleRead (LayerStatus &status, const LayerState &current_state)
virtual void	handleRecover (LayerStatus &status)
virtual void	handleShutdown (LayerStatus &status)
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)
Private Member Functions
boost::shared_ptr< Mode >	allocMode (uint16_t mode)
template<typename T , typename T1 >
void	createAndRegister (uint16_t mode, const T1 &t1)
template<typename T , typename T1 , typename T2 >
void	createAndRegister (uint16_t mode, const T1 &t1, const T2 &t2)
template<typename T >
void	createAndRegister0 (uint16_t mode)
virtual bool	isModeSupportedByDevice (uint16_t mode)
bool	readState (LayerStatus &status, const LayerState &current_state)
void	registerMode (uint16_t id, const boost::shared_ptr< Mode > &m)
bool	switchMode (LayerStatus &status, uint16_t mode)
bool	switchState (LayerStatus &status, const State402::InternalState &target)
Private Attributes
uint16_t	control_word_
canopen::ObjectStorage::Entry < uint16_t >	control_word_entry_
boost::mutex	cw_mutex_
boost::mutex	map_mutex_
boost::unordered_map< uint16_t, boost::function< void()> >	mode_allocators_
boost::condition_variable	mode_cond_
uint16_t	mode_id_
boost::mutex	mode_mutex_
boost::unordered_map< uint16_t, boost::shared_ptr< Mode > >	modes_
const bool	monitor_mode_
canopen::ObjectStorage::Entry < int8_t >	op_mode_
canopen::ObjectStorage::Entry < int8_t >	op_mode_display_
boost::shared_ptr< Mode >	selected_mode_
boost::atomic< bool >	start_fault_reset_
State402	state_handler_
boost::atomic< uint16_t >	status_word_
canopen::ObjectStorage::Entry < uint16_t >	status_word_entry_
canopen::ObjectStorage::Entry < uint32_t >	supported_drive_modes_
const State402::InternalState	switching_state_
boost::atomic < State402::InternalState >	target_state_

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Detailed Description

Definition at line 291 of file motor.h.

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Constructor & Destructor Documentation

canopen::Motor402::Motor402	(	const std::string &	name,
		boost::shared_ptr< ObjectStorage >	storage,
		const canopen::Settings &	settings
	)		[inline]

Definition at line 295 of file motor.h.

---

Member Function Documentation

boost::shared_ptr< Mode > canopen::Motor402::allocMode

(

uint16_t

mode

)

[private]

Definition at line 275 of file motor.cpp.

template<typename T , typename T1 >

void canopen::Motor402::createAndRegister	(	uint16_t	mode,
		const T1 &	t1
	)		[inline, private]

Definition at line 355 of file motor.h.

template<typename T , typename T1 , typename T2 >

void canopen::Motor402::createAndRegister	(	uint16_t	mode,
		const T1 &	t1,
		const T2 &	t2
	)		[inline, private]

Definition at line 358 of file motor.h.

template<typename T >

void canopen::Motor402::createAndRegister0

(

uint16_t

mode

)

[inline, private]

Definition at line 352 of file motor.h.

bool canopen::Motor402::enterModeAndWait

(

uint16_t

mode

)

[virtual]

Implements canopen::MotorBase.

Definition at line 253 of file motor.cpp.

uint16_t canopen::Motor402::getMode

(

)

[virtual]

Implements canopen::MotorBase.

Definition at line 262 of file motor.cpp.

void canopen::Motor402::handleDiag

(

LayerReport &

report

)

[protected, virtual]

Implements canopen::Layer.

Definition at line 434 of file motor.cpp.

void canopen::Motor402::handleHalt

(

LayerStatus &

status

)

[protected, virtual]

Implements canopen::Layer.

Definition at line 514 of file motor.cpp.

void canopen::Motor402::handleInit

(

LayerStatus &

status

)

[protected, virtual]

Implements canopen::Layer.

Definition at line 467 of file motor.cpp.

void canopen::Motor402::handleRead	(	LayerStatus &	status,
		const LayerState &	current_state
	)		[protected, virtual]

Implements canopen::Layer.

Definition at line 405 of file motor.cpp.

void canopen::Motor402::handleRecover

(

LayerStatus &

status

)

[protected, virtual]

Implements canopen::Layer.

Definition at line 530 of file motor.cpp.

void canopen::Motor402::handleShutdown

(

LayerStatus &

status

)

[protected, virtual]

Implements canopen::Layer.

Definition at line 510 of file motor.cpp.

void canopen::Motor402::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)		[protected, virtual]

Implements canopen::Layer.

Definition at line 410 of file motor.cpp.

bool canopen::Motor402::isModeSupported

(

uint16_t

mode

)

[virtual]

Implements canopen::MotorBase.

Definition at line 251 of file motor.cpp.

bool canopen::Motor402::isModeSupportedByDevice

(

uint16_t

mode

)

[private, virtual]

Definition at line 267 of file motor.cpp.

bool canopen::Motor402::readState	(	LayerStatus &	status,
		const LayerState &	current_state
	)		[private]

Definition at line 375 of file motor.cpp.

virtual void canopen::Motor402::registerDefaultModes

(

boost::shared_ptr< ObjectStorage >

storage

)

[inline, virtual]

Reimplemented from canopen::MotorBase.

Definition at line 326 of file motor.h.

template<typename T >

bool canopen::Motor402::registerMode

(

uint16_t

mode

)

[inline]

Definition at line 316 of file motor.h.

template<typename T , typename T1 >

bool canopen::Motor402::registerMode	(	uint16_t	mode,
		const T1 &	t1
	)		[inline]

Definition at line 319 of file motor.h.

template<typename T , typename T1 , typename T2 >

bool canopen::Motor402::registerMode	(	uint16_t	mode,
		const T1 &	t1,
		const T2 &	t2
	)		[inline]

Definition at line 322 of file motor.h.

void canopen::Motor402::registerMode	(	uint16_t	id,
		const boost::shared_ptr< Mode > &	m
	)		[private]

Definition at line 270 of file motor.cpp.

bool canopen::Motor402::setTarget

(

double

val

)

[virtual]

Implements canopen::MotorBase.

Definition at line 244 of file motor.cpp.

bool canopen::Motor402::switchMode	(	LayerStatus &	status,
		uint16_t	mode
	)		[private]

Definition at line 287 of file motor.cpp.

bool canopen::Motor402::switchState	(	LayerStatus &	status,
		const State402::InternalState &	target
	)		[private]

Definition at line 355 of file motor.cpp.

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Member Data Documentation

uint16_t canopen::Motor402::control_word_ [private]

Definition at line 372 of file motor.h.

canopen::ObjectStorage::Entry<uint16_t > canopen::Motor402::control_word_entry_ [private]

Definition at line 392 of file motor.h.

boost::mutex canopen::Motor402::cw_mutex_ [private]

Definition at line 373 of file motor.h.

boost::mutex canopen::Motor402::map_mutex_ [private]

Definition at line 380 of file motor.h.

boost::unordered_map<uint16_t, boost::function<void()> > canopen::Motor402::mode_allocators_ [private]

Definition at line 382 of file motor.h.

boost::condition_variable canopen::Motor402::mode_cond_ [private]

Definition at line 386 of file motor.h.

uint16_t canopen::Motor402::mode_id_ [private]

Definition at line 385 of file motor.h.

boost::mutex canopen::Motor402::mode_mutex_ [private]

Definition at line 387 of file motor.h.

boost::unordered_map<uint16_t, boost::shared_ptr<Mode> > canopen::Motor402::modes_ [private]

Definition at line 381 of file motor.h.

const bool canopen::Motor402::monitor_mode_ [private]

Definition at line 389 of file motor.h.

canopen::ObjectStorage::Entry<int8_t> canopen::Motor402::op_mode_ [private]

Definition at line 394 of file motor.h.

canopen::ObjectStorage::Entry<int8_t> canopen::Motor402::op_mode_display_ [private]

Definition at line 393 of file motor.h.

boost::shared_ptr<Mode> canopen::Motor402::selected_mode_ [private]

Definition at line 384 of file motor.h.

boost::atomic<bool> canopen::Motor402::start_fault_reset_ [private]

Definition at line 374 of file motor.h.

State402 canopen::Motor402::state_handler_ [private]

Definition at line 378 of file motor.h.

boost::atomic<uint16_t> canopen::Motor402::status_word_ [private]

Definition at line 371 of file motor.h.

canopen::ObjectStorage::Entry<uint16_t> canopen::Motor402::status_word_entry_ [private]

Definition at line 391 of file motor.h.

canopen::ObjectStorage::Entry<uint32_t> canopen::Motor402::supported_drive_modes_ [private]

Definition at line 395 of file motor.h.

const State402::InternalState canopen::Motor402::switching_state_ [private]

Definition at line 388 of file motor.h.

boost::atomic<State402::InternalState> canopen::Motor402::target_state_ [private]

Definition at line 375 of file motor.h.

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The documentation for this class was generated from the following files:

• motor.h
• motor.cpp