Class CIA402MockSlave

Defined in File cia402_slave.hpp

Inheritance Relationships

Base Type

public canopen::BasicSlave

Derived Type

public ros2_canopen::DelayedBootSlave (Class DelayedBootSlave)

Class Documentation

class CIA402MockSlave : public canopen::BasicSlave

Subclassed by ros2_canopen::DelayedBootSlave

Public Functions

inline explicit CIA402MockSlave(io::TimerBase &timer, io::CanChannelBase &chan, const ::std::string &dcf_txt, const ::std::string &dcf_bin = "", uint8_t id = 0xff)

inline virtual ~CIA402MockSlave()

Protected Types

enum InternalState

Values:

enumerator Unknown

enumerator Start

enumerator Not_Ready_To_Switch_On

enumerator Switch_On_Disabled

enumerator Ready_To_Switch_On

enumerator Switched_On

enumerator Operation_Enable

enumerator Quick_Stop_Active

enumerator Fault_Reaction_Active

enumerator Fault

enum StatusWord

Values:

enumerator SW_Ready_To_Switch_On

enumerator SW_Switched_On

enumerator SW_Operation_enabled

enumerator SW_Fault

enumerator SW_Voltage_enabled

enumerator SW_Quick_stop

enumerator SW_Switch_on_disabled

enumerator SW_Warning

enumerator SW_Manufacturer_specific0

enumerator SW_Remote

enumerator SW_Target_reached

enumerator SW_Internal_limit

enumerator SW_Operation_mode_specific0

enumerator SW_Operation_mode_specific1

enumerator SW_Manufacturer_specific1

enumerator SW_Manufacturer_specific2

enum ControlWord

Values:

enumerator CW_Switch_On

enumerator CW_Enable_Voltage

enumerator CW_Quick_Stop

enumerator CW_Enable_Operation

enumerator CW_Operation_mode_specific0

enumerator CW_Operation_mode_specific1

enumerator CW_Operation_mode_specific2

enumerator CW_Fault_Reset

enumerator CW_Halt

enumerator CW_Operation_mode_specific3

enumerator CW_Manufacturer_specific0

enumerator CW_Manufacturer_specific1

enumerator CW_Manufacturer_specific2

enumerator CW_Manufacturer_specific3

enumerator CW_Manufacturer_specific4

enum OperationMode

Values:

enumerator No_Mode

enumerator Profiled_Position

enumerator Velocity

enumerator Profiled_Velocity

enumerator Profiled_Torque

enumerator Reserved

enumerator Homing

enumerator Interpolated_Position

enumerator Cyclic_Synchronous_Position

enumerator Cyclic_Synchronous_Velocity

enumerator Cyclic_Synchronous_Torque

enum CiaRegister

Values:

enumerator ControlWord

enumerator StatusWord

enumerator OperationMode

enumerator ModeOfOperationDisplay

enumerator ActualPosition

enumerator ActualVelocity

enumerator TargetPosition

enumerator SoftwarePositionLimits

enumerator ProfileVelocity

enumerator ProfileAcceleration

enumerator InterpolationDataRecord

enumerator InterpolationTimePeriod

enumerator PositionOffset

enumerator TargetVelocity

Protected Functions

inline void run_profiled_position_mode()

inline void run_cyclic_position_mode()

inline void run_interpolated_position_mode()

inline void run_profile_velocity_mode()

inline void run_homing_mode()

inline void set_new_status_word_and_state()

inline void set_status_bit(int bit)

inline void clear_status_bit(int bit)

inline void set_switch_on_disabled()

inline void set_ready_to_switch_on()

inline void set_switch_on()

inline void set_operation_enabled()

inline void set_quick_stop()

inline void on_not_ready_to_switch_on()

inline void on_switch_on_disabled()

inline void on_ready_to_switch_on()

inline void on_switched_on()

inline void on_operation_enabled()

inline void start_sync_pos_mode()

inline void start_profile_pos_mode()

inline void start_interpolated_pos_mode()

inline void start_homing_mode()

inline void start_profile_velocity_mode()

inline void on_quickstop_active()

inline bool is_shutdown()

inline bool is_disable_voltage()

inline bool is_switch_on()

inline bool is_enable_operation()

inline bool is_quickstop()

inline bool is_faul_reset()

inline void OnWrite(uint16_t idx, uint8_t subidx) noexcept override

Protected Attributes

std::atomic<bool> is_relative

std::atomic<bool> is_running

std::atomic<bool> is_halt

std::atomic<bool> is_new_set_point

std::atomic<int8_t> operation_mode

std::atomic<int8_t> old_operation_mode

std::mutex w_mutex

uint16_t status_word

uint16_t control_word

std::atomic<InternalState> state

std::thread profiled_position_mode

std::thread profiled_velocity_mode

std::thread cyclic_position_mode

std::thread cyclic_velocity_mode

std::thread interpolated_position_mode

std::thread homing_mode

double cycle_time

std::mutex in_mode_mutex

double actual_position

double actual_speed

double acceleration

double control_cycle_period