drive_diagnostics.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_DRIVE_DIAGNOSTICS_H
#define MOTORCORTEX_CORE_DRIVE_DIAGNOSTICS_H
 
#include "ct_module.h"
 
namespace mcx {
 
namespace drive {
 
class Diagnostics : public container::Module {
public:
 
  Diagnostics() = delete;
 
  explicit Diagnostics(unsigned int number_of_axis = 1, unsigned int number_of_diagnostic_codes = 3);
 
  ~Diagnostics() override;
 
protected:
 
  void create_(const char* name, parameter_server::Parameter* parameter_server, uint64_t dt_micro_s) override;
 
  bool initPhase1_() override;
 
  bool initPhase2_() override;
 
  bool startOp_() override;
 
  bool stopOp_() override;
 
  bool iterateOp_(const container::TaskTime& system_time, container::UserTime* user_time) override;
 
private:
 
  struct DiagnosticCodeList {
    unsigned int length;
    unsigned int* code;
  };
 
  struct DiagnosticCodeTable {
    unsigned int length;
    unsigned int* number_of_codes;
    DiagnosticCodeList* code_list;
  };
 
  DiagnosticCodeTable diag_code_table_{};
 
  bool update_{false};
  bool reset_{false};
  parameter_server::ParamHandle update_handle_;
  parameter_server::ParamHandle update_code_list_handle_;
  parameter_server::ParamHandle reset_handle_;
  parameter_server::ParamHandle reset_code_list_handle_;
 
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif //MOTORCORTEX_CORE_DRIVE_DIAGNOSTICS_H