drive_sercos_fsm_transition.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_DRIVE_SERCOS_FSM_TRANSITION_H
#define MOTORCORTEX_CORE_DRIVE_SERCOS_FSM_TRANSITION_H
 
#include "drive_sercos_fsm_base.h"
#include "sm_state.h"
 
namespace mcx {
 
namespace drive {
 
// common implementations which appear more than once in the code
class TransitionSercos : public SercosFsmBase {
public:
  explicit TransitionSercos(SercosFsmData& data);
 
  state_machine::EventStatus shutdown(int state_id) override;
 
  state_machine::EventStatus switchOn(int state_id) override;
 
  state_machine::EventStatus enableOperation(int state_id) override;
 
  state_machine::EventStatus quickStop(int state_id) override;
 
  state_machine::EventStatus disableOperation(int state_id) override;
 
  state_machine::EventStatus disableVoltage(int state_id) override;
 
  state_machine::EventStatus resetting(int state_id) override;
 
  state_machine::EventStatus terminateEvent() override;
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif //MOTORCORTEX_CORE_DRIVE_SERCOS_FSM_TRANSITION_H