#include <motor.h>

Inheritance diagram for canopen::Motor402:

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, ObjectStorageSharedPtr storage, const canopen::Settings &settings)

virtual void	registerDefaultModes (ObjectStorageSharedPtr storage)

template<typename T , typename ... Args>
bool	registerMode (uint16_t mode, Args &&... args)

virtual bool	setTarget (double val)

Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)

LayerState	getLayerState ()

void	halt (LayerStatus &status)

void	init (LayerStatus &status)

	Layer (const std::string &n)

void	read (LayerStatus &status)

void	recover (LayerStatus &status)

void	shutdown (LayerStatus &status)

void	write (LayerStatus &status)

virtual	~Layer ()

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)

Protected Member Functions inherited from canopen::MotorBase
	MotorBase (const std::string &name)

Private Types
typedef std::function< void()>	AllocFuncType

Private Member Functions
ModeSharedPtr	allocMode (uint16_t mode)

virtual bool	isModeSupportedByDevice (uint16_t mode)

bool	readState (LayerStatus &status, const LayerState &current_state)

void	registerMode (uint16_t id, const ModeSharedPtr &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_

std::unordered_map< uint16_t, AllocFuncType >	mode_allocators_

boost::condition_variable	mode_cond_

uint16_t	mode_id_

boost::mutex	mode_mutex_

std::unordered_map< uint16_t, ModeSharedPtr >	modes_

const bool	monitor_mode_

canopen::ObjectStorage::Entry< int8_t >	op_mode_

canopen::ObjectStorage::Entry< int8_t >	op_mode_display_

ModeSharedPtr	selected_mode_

std::atomic< bool >	start_fault_reset_

State402	state_handler_

const boost::chrono::seconds	state_switch_timeout_

std::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_

std::atomic< State402::InternalState >	target_state_

Additional Inherited Members
Public Types inherited from canopen::MotorBase
typedef std::shared_ptr< MotorBase >	MotorBaseSharedPtr

enum	OperationMode { No_Mode = 0, Profiled_Position = 1, Velocity = 2, Profiled_Velocity = 3, Profiled_Torque = 4, Reserved = 5, Homing = 6, Interpolated_Position = 7, Cyclic_Synchronous_Position = 8, Cyclic_Synchronous_Velocity = 9, Cyclic_Synchronous_Torque = 10 }

Public Types inherited from canopen::Layer
enum	LayerState

Public Attributes inherited from canopen::Layer
	Error

	Halt

	Init

const std::string	name

	Off

	Ready

	Recover

	Shutdown

Detailed Description

Definition at line 291 of file motor.h.

Member Typedef Documentation

◆ AllocFuncType

typedef std::function<void()> canopen::Motor402::AllocFuncType

private

Definition at line 370 of file motor.h.

Constructor & Destructor Documentation

◆ Motor402()

canopen::Motor402::Motor402	(	const std::string &	name,
		ObjectStorageSharedPtr	storage,
		const canopen::Settings &	settings
	)

inline

Definition at line 295 of file motor.h.

Member Function Documentation

◆ allocMode()

ModeSharedPtr canopen::Motor402::allocMode ( uint16_t mode )

private

Definition at line 279 of file motor.cpp.

◆ enterModeAndWait()

bool canopen::Motor402::enterModeAndWait ( uint16_t mode )

virtual

Implements canopen::MotorBase.

Definition at line 254 of file motor.cpp.

◆ getMode()

uint16_t canopen::Motor402::getMode ( )

virtual

Implements canopen::MotorBase.

Definition at line 263 of file motor.cpp.

◆ handleDiag()

void canopen::Motor402::handleDiag ( LayerReport & report )

protectedvirtual

Implements canopen::Layer.

Definition at line 438 of file motor.cpp.

◆ handleHalt()

void canopen::Motor402::handleHalt ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 518 of file motor.cpp.

◆ handleInit()

void canopen::Motor402::handleInit ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 471 of file motor.cpp.

◆ handleRead()

void canopen::Motor402::handleRead	(	LayerStatus &	status,
		const LayerState &	current_state
	)

protectedvirtual

Implements canopen::Layer.

Definition at line 409 of file motor.cpp.

◆ handleRecover()

void canopen::Motor402::handleRecover ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 534 of file motor.cpp.

◆ handleShutdown()

void canopen::Motor402::handleShutdown ( LayerStatus & status )

protectedvirtual

Implements canopen::Layer.

Definition at line 514 of file motor.cpp.

◆ handleWrite()

void canopen::Motor402::handleWrite	(	LayerStatus &	status,
		const LayerState &	current_state
	)

protectedvirtual

Implements canopen::Layer.

Definition at line 414 of file motor.cpp.

◆ isModeSupported()

bool canopen::Motor402::isModeSupported ( uint16_t mode )

virtual

Implements canopen::MotorBase.

Definition at line 252 of file motor.cpp.

◆ isModeSupportedByDevice()

bool canopen::Motor402::isModeSupportedByDevice ( uint16_t mode )

privatevirtual

Definition at line 268 of file motor.cpp.

◆ readState()

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

private

Definition at line 379 of file motor.cpp.

◆ registerDefaultModes()

virtual void canopen::Motor402::registerDefaultModes ( ObjectStorageSharedPtr storage )

inlinevirtual

Reimplemented from canopen::MotorBase.

Definition at line 324 of file motor.h.

◆ registerMode() [1/2]

template<typename T , typename ... Args>

bool canopen::Motor402::registerMode	(	uint16_t	mode,
		Args &&...	args
	)

inline

Definition at line 318 of file motor.h.

◆ registerMode() [2/2]

void canopen::Motor402::registerMode	(	uint16_t	id,
		const ModeSharedPtr &	m
	)

private

Definition at line 274 of file motor.cpp.

◆ setTarget()

bool canopen::Motor402::setTarget ( double val )

virtual

Implements canopen::MotorBase.

Definition at line 245 of file motor.cpp.

◆ switchMode()

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

private

Definition at line 291 of file motor.cpp.

◆ switchState()

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

private

Definition at line 359 of file motor.cpp.

Member Data Documentation

◆ control_word_

uint16_t canopen::Motor402::control_word_

private

Definition at line 360 of file motor.h.

◆ control_word_entry_

canopen::ObjectStorage::Entry<uint16_t > canopen::Motor402::control_word_entry_

private

Definition at line 382 of file motor.h.

◆ cw_mutex_

boost::mutex canopen::Motor402::cw_mutex_

private

Definition at line 361 of file motor.h.

◆ map_mutex_

boost::mutex canopen::Motor402::map_mutex_

private

Definition at line 368 of file motor.h.

◆ mode_allocators_

std::unordered_map<uint16_t, AllocFuncType> canopen::Motor402::mode_allocators_

private

Definition at line 371 of file motor.h.

◆ mode_cond_

boost::condition_variable canopen::Motor402::mode_cond_

private

Definition at line 375 of file motor.h.

◆ mode_id_

uint16_t canopen::Motor402::mode_id_

private

Definition at line 374 of file motor.h.

◆ mode_mutex_

boost::mutex canopen::Motor402::mode_mutex_

private

Definition at line 376 of file motor.h.

◆ modes_

std::unordered_map<uint16_t, ModeSharedPtr > canopen::Motor402::modes_

private

Definition at line 369 of file motor.h.

◆ monitor_mode_

const bool canopen::Motor402::monitor_mode_

private

Definition at line 378 of file motor.h.

◆ op_mode_

canopen::ObjectStorage::Entry<int8_t> canopen::Motor402::op_mode_

private

Definition at line 384 of file motor.h.

◆ op_mode_display_

canopen::ObjectStorage::Entry<int8_t> canopen::Motor402::op_mode_display_

private

Definition at line 383 of file motor.h.

◆ selected_mode_

ModeSharedPtr canopen::Motor402::selected_mode_

private

Definition at line 373 of file motor.h.

◆ start_fault_reset_

std::atomic<bool> canopen::Motor402::start_fault_reset_

private

Definition at line 362 of file motor.h.

◆ state_handler_

State402 canopen::Motor402::state_handler_

private

Definition at line 366 of file motor.h.

◆ state_switch_timeout_

const boost::chrono::seconds canopen::Motor402::state_switch_timeout_

private

Definition at line 379 of file motor.h.

◆ status_word_

std::atomic<uint16_t> canopen::Motor402::status_word_

private

Definition at line 359 of file motor.h.

◆ status_word_entry_

canopen::ObjectStorage::Entry<uint16_t> canopen::Motor402::status_word_entry_

private

Definition at line 381 of file motor.h.

◆ supported_drive_modes_

canopen::ObjectStorage::Entry<uint32_t> canopen::Motor402::supported_drive_modes_

private

Definition at line 385 of file motor.h.

◆ switching_state_

const State402::InternalState canopen::Motor402::switching_state_

private

Definition at line 377 of file motor.h.

◆ target_state_

std::atomic<State402::InternalState> canopen::Motor402::target_state_

private

Definition at line 363 of file motor.h.

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

Classes

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AllocFuncType

Constructor & Destructor Documentation

◆ Motor402()

Member Function Documentation

◆ allocMode()

◆ enterModeAndWait()

◆ getMode()

◆ handleDiag()

◆ handleHalt()

◆ handleInit()

◆ handleRead()

◆ handleRecover()

◆ handleShutdown()

◆ handleWrite()

◆ isModeSupported()

◆ isModeSupportedByDevice()

◆ readState()

◆ registerDefaultModes()

◆ registerMode() [1/2]

◆ registerMode() [2/2]

◆ setTarget()

◆ switchMode()

◆ switchState()

Member Data Documentation

◆ control_word_

◆ control_word_entry_

◆ cw_mutex_

◆ map_mutex_

◆ mode_allocators_

◆ mode_cond_

◆ mode_id_

◆ mode_mutex_

◆ modes_

◆ monitor_mode_

◆ op_mode_

◆ op_mode_display_

◆ selected_mode_

◆ start_fault_reset_

◆ state_handler_

◆ state_switch_timeout_

◆ status_word_

◆ status_word_entry_

◆ supported_drive_modes_

◆ switching_state_

◆ target_state_