drive_cia402_fsm_base.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_DRIVE_CIA402_FSM_BASE_H
#define MOTORCORTEX_CORE_DRIVE_CIA402_FSM_BASE_H
 
#include "sm_statemachine.h"
#include "drive_mode.h"
 
namespace mcx {
 
namespace drive {
 
struct Cia402FsmData;
 
class Cia402FsmBase : public state_machine::State<Cia402FsmBase> {
public:
  explicit Cia402FsmBase(Cia402FsmData&);
 
  ~Cia402FsmBase() override = default;
 
  void registerUserEvents() override;
 
  virtual state_machine::EventStatus shutdown(int state_id);
 
  virtual state_machine::EventStatus switchOn(int state_id);
 
  virtual state_machine::EventStatus disableVoltage(int state_id);
 
  virtual state_machine::EventStatus quickStop(int state_id);
 
  virtual state_machine::EventStatus disableOperation(int state_id);
 
  virtual state_machine::EventStatus enableOperation(int state_id);
 
  virtual state_machine::EventStatus resetting(int state_id);
 
  virtual state_machine::EventStatus gotoOff();
 
  virtual state_machine::EventStatus gotoDisengage();
 
  virtual state_machine::EventStatus gotoEngage();
 
  virtual state_machine::EventStatus gotoQuickStop();
 
  virtual state_machine::EventStatus gotoModeAction();
 
  virtual state_machine::EventStatus faultAcknowledge();
 
  virtual state_machine::EventStatus switchMode(DriveMode drive_mode, const std::string& machine_name);
 
  state_machine::EventStatus warning_(const mcx::state_machine::Error& error) override;
 
  state_machine::EventStatus forcedDisengaged_(const mcx::state_machine::Error& error) override;
 
  state_machine::EventStatus shutdown_(const mcx::state_machine::Error& error) override;
 
  state_machine::EventStatus emergencyStop_(const mcx::state_machine::Error& error) override;
 
protected:
  Cia402FsmData& fsm_data_;
  DriveMode drive_mode_{DriveMode::DRIVE_MODE_NOMODE};
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif //MOTORCORTEX_CORE_DRIVE_CIA402_FSM_BASE_H