DS402Group.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef DS402GROUP_H
#define DS402GROUP_H

#include "DS301Group.h"
#include "DS402Node.h"


namespace icl_hardware {
namespace canopen_schunk {

class DS402Group : public DS301Group
{
public:
  typedef boost::shared_ptr<DS402Group> Ptr;
  typedef boost::shared_ptr<const DS402Group> ConstPtr;

  DS402Group(const std::string& name = "");

  virtual void initNodes(const int16_t node_id = -1);

  virtual void printStatus(const int16_t node_id = -1);

  virtual bool setTarget ( const std::vector<float>& targets );

  virtual void startPPMovement (const int16_t node_id = -1);

  virtual void acceptPPTargets (const int16_t node_id = -1);

  virtual bool setTarget ( const float target, const uint8_t node_id );

  virtual void getTargetFeedback(std::vector<double>& feedback);

  virtual void setDefaultPDOMapping (const DS402Node::eDefaultPDOMapping mapping, const int16_t node_id = -1);

  virtual void home(const int16_t node_id = -1);

  virtual void getModeOfOperation (std::vector<ds402::eModeOfOperation>& modes);

  virtual bool setModeOfOperation (const ds402::eModeOfOperation op_mode, const int16_t node_id = -1);

  virtual bool isModeSupported (const ds402::eModeOfOperation op_mode, const int16_t node_id = -1);

  virtual void quickStop (const int16_t node_id = -1);


  virtual void setupProfilePositionMode (const ds402::ProfilePositionModeConfiguration& config, const int16_t node_id = -1);

  virtual void setupHomingMode (const ds402::HomingModeConfiguration& config, const int16_t node_id = -1);

  virtual void setupProfileVelocityMode (const ds402::ProfileVelocityModeConfiguration& config, const int16_t node_id = -1);

  virtual void setupProfileTorqueMode (const ds402::ProfileTorqueModeConfiguration& config, const int16_t node_id = -1);

  virtual bool resetFault (const int16_t node_id = -1);

  virtual void configureInterpolationCycleTime (const int16_t node_id = -1, const uint8_t interpolation_cycle_time_ms = 20);

  virtual void configureHomingMethod ( const int8_t homing_method, const int16_t node_id = -1);

  virtual void configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed = 0, const int16_t node_id = -1);

  virtual void enableNodes (const ds402::eModeOfOperation operation_mode = ds402::MOO_RESERVED_0,
                            const int16_t node_id = -1);

  virtual void disableNodes (const int16_t node_id = -1);

  virtual void openBrakes (const int16_t node_id = -1);

  virtual void closeBrakes (const int16_t node_id = -1);

  virtual bool isTargetReached (std::vector<bool>& reached_single);

protected:
  template <typename NodeT>
  DS301Node::Ptr addNode(const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor);

  std::vector<DS402Node::Ptr> m_ds402_nodes;

  // the add-node method should be callable from the controller
  friend class CanOpenController;

};

}}// end of NS

// include template implementations
#include "DS402Group.hpp"

#endif // DS402GROUP_H