drive_module.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_LIB_DRIVE_MODULE_H
#define MOTORCORTEX_LIB_DRIVE_MODULE_H
 
#include "drive_type.h"
#include "drive_mode.h"
#include "drive_state.h"
#include "drive_command.h"
 
#include "ct_module.h"
#include "utl_cmdparser.h"
 
#include <vector>
#include <string>
 
namespace mcx {
 
namespace drive {
 
class DriveBase;
 
class Module : public container::Module {
public:
 
  Module() = delete;
 
  Module(utils::SystemMode system_mode, DriveType type, const std::string& name, unsigned int number_of_axis = 1);
 
  Module(utils::SystemMode system_mode, DriveType type, unsigned int number_of_axis = 1);
 
  ~Module() 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:
//  void updateDiagNumbers(uint32_t *arr, uint32_t arr_length, uint32_t new_value);
 
private:
  static constexpr auto default_name_{"Drive"};
  static constexpr unsigned int number_of_diagnostic_codes_{8};
 
  const unsigned int number_of_axis_{};
  std::vector<DriveBase*> drives_;
 
  DriveMode* drive_mode_;
  DriveCommand* drive_command_;
  DriveState* drive_state_;
 
  DriveMode drive_mode_all_{};
  DriveCommand drive_command_all_{};
 
  parameter_server::ParamHandle drive_mode_all_handle_;
  parameter_server::ParamHandle drive_command_all_handle_;
  parameter_server::ParamHandle disable_drive_handle_;
 
 
  // feedback from the drives
  unsigned int* status_word_;
  // command to the drive
  unsigned int* control_word_;
  unsigned int* opmode_;
 
  // trigger error code upload from the mailbox
  bool* upload_error_code_;
 
  // flag indicates that drive has an error
  bool* drive_has_error_;
  bool* drive_has_no_error_;
 
  // flag indicates that drive has a warning
  bool* drive_has_warning_;
 
  // flag indicates that drives are enabled
  bool* drive_enabled_;
 
  // flag indicates that drives are resetting errors
  bool* drive_resetting_;
 
  // flag to disable drive
  bool* disable_drive_;
 
  // timeouts for switching to op states in the fsm
  double* timeout_switch_on_sec_;
  double* timeout_enable_op_sec_;
  double* timeout_fault_ack_sec_;
  double* timeout_switch_off_sec_;
  double* delay_enable_op_sec_;
  size_t* seq_enable_op_id_;
 
 
//  uint32_t* drive_diagnostics_code_;
//  uint32_t** last_drive_diagnostic_codes_;
 
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif // MOTORCORTEX_LIB_DRIVE_MODULE_H