wd_module.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_WD_MODULE_H
#define MOTORCORTEX_CORE_WD_MODULE_H
 
#include "ct_module.h"
#include "wd_base.h"
#include "utl_cmdparser.h"
 
namespace mcx {
 
namespace watchdog {
 
enum class WatchdogType {
  EXTERNAL,
  MCX_BOX
};
 
class WatchdogBase;
 
class Module : public container::Module {
 
public:
 
  Module() = delete;
 
  Module(utils::SystemMode system_mode, WatchdogType type, const char* device);
 
  ~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:
  double ack_duration_sec_{0.05};
  double pulse_duration_sec_{0.005};
  bool acknowledge_{};
  bool do_no_estop_{true};
  bool override_{false};
  WatchdogOut watchdog_out_{};
  std::string device_;
  WatchdogBase* watchdog_;
  WatchdogType type_;
 
};
 
}  // namespace watchdog
 
}  // namespace mcx
 
#endif //MOTORCORTEX_CORE_WD_MODULE_H