drive_sercos_fsm_impl.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_DRIVE_SERCOS_FSM_IMPL_H
#define MOTORCORTEX_CORE_DRIVE_SERCOS_FSM_IMPL_H
 
#include "drive_sercos_fsm_base.h"
 
namespace mcx {
 
namespace drive {
 
struct SercosFsmData;
 
/*
 * Drive not ready for power on (e.g. P2)
 */
class NotReadyToPowerOn : public SercosFsmBase {
public:
  explicit NotReadyToPowerOn(SercosFsmData& data);
 
  void enter() override;
 
  state_machine::EventStatus faultAcknowledge() override;
};
 
/*
 * Ready for power on (bb)
 */
class ReadyForPowerOn : public SercosFsmBase {
public:
  explicit ReadyForPowerOn(SercosFsmData& data);
 
  void enter() override;
 
  // user input commands
  state_machine::EventStatus gotoDisengage() override;
 
  state_machine::EventStatus gotoEngage() override;
};
 
/*
 * Control section and power ready for op (Ab)
 */
class ReadyForOperation : public SercosFsmBase {
public:
  explicit ReadyForOperation(SercosFsmData& data);
 
  void enter() override;
 
  // user input commands
  state_machine::EventStatus gotoOff() override;
 
  state_machine::EventStatus gotoEngage() override;
};
 
/*
 * In operation, with torque (e.g. AF)
 */
class InOperation : public SercosFsmBase {
public:
  explicit InOperation(SercosFsmData& 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 gotoQuickStop() override;
 
};
 
/*
 * TODO
 */
class Halt : public SercosFsmBase {
public:
  explicit Halt(SercosFsmData& 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;
};
 
/*
 * TODO
 */
class FaultSercos : public SercosFsmBase {
public:
  explicit FaultSercos(SercosFsmData& 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_SERCOS_FSM_IMPL_H