drive_cia402_fsm_impl.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_DRIVE_CIA402_FSM_IMPL_H
#define MOTORCORTEX_CORE_DRIVE_CIA402_FSM_IMPL_H
 
#include "drive_cia402_fsm_base.h"
 
namespace mcx {
 
namespace drive {
 
struct Cia402FsmData;
 
/*
 * Drive not ready to switch on, there is no operational readiness
 * (BTB/RTO) signaled from the controller program.
 */
class NotReadyToSwitchOn : public Cia402FsmBase {
public:
  explicit NotReadyToSwitchOn(Cia402FsmData& data);
 
  void enter() override;
 
  state_machine::EventStatus faultAcknowledge() override;
};
 
/*
 * Drive is ready to switch on, parameters can be transferred,
 * the DC-link voltage can be switched on, motion functions cannot
 * be carried out yet.
 */
class SwitchOnDisabled : public Cia402FsmBase {
public:
  explicit SwitchOnDisabled(Cia402FsmData& data);
 
  void enter() override;
 
  void iterate(double time) override;
 
  // user input commands
  state_machine::EventStatus gotoDisengage() override;
 
  state_machine::EventStatus gotoEngage() override;
};
 
/*
 * DC-link voltage must be switched on, parameters can be transferred, motion
 * functions cannot be carried out yet, output stage is switched on (enabled).
 */
class SwitchOn : public Cia402FsmBase {
public:
  explicit SwitchOn(Cia402FsmData& data);
 
  void enter() override;
 
  // user input commands
  state_machine::EventStatus gotoOff() override;
 
  state_machine::EventStatus gotoEngage() override;
};
 
/*
 * No fault present, output stage is enabled, motion functions are enabled.
 */
class OperationEnable : public Cia402FsmBase {
public:
  explicit OperationEnable(Cia402FsmData& data);
 
  void enter() override;
 
  void leave() override;
 
  void iterate(double dt) override;
 
 
  // user input commands
  state_machine::EventStatus gotoOff() override;
 
  state_machine::EventStatus gotoDisengage() override;
 
  state_machine::EventStatus gotoQuickStop() override;
 
  state_machine::EventStatus gotoModeAction() override;
 
  state_machine::EventStatus gotoEngage() override;
 
};
 
/*
 * Drive has been stopped with the emergency ramp, output stage is enabled, motion
 * functions are enabled, response depends on Object 605Ah ( 6.3)
 */
class QuickStopActive : public Cia402FsmBase {
public:
  explicit QuickStopActive(Cia402FsmData& data);
 
  void enter() override;
 
  void iterate(double dt) override;
 
  // user input commands
  state_machine::EventStatus gotoOff() override;
 
  state_machine::EventStatus gotoDisengage() override;
 
  state_machine::EventStatus gotoEngage() override;
};
 
/*
 * Drive error is active, DC-Voltage is disabled
 */
class Fault : public Cia402FsmBase {
public:
  explicit Fault(Cia402FsmData& data);
 
  void enter() override;
 
  void iterate(double dt) override;
 
  void leave() override;
 
  state_machine::EventStatus faultAcknowledge() override;
 
private:
  double upload_error_code_timer_{};
 
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif //MOTORCORTEX_CORE_DRIVE_CIA402_FSM_IMPL_H