mcx::drive::SercosFsmBase

4 minute read

mcx::drive::SercosFsmBase

Inherits from mcx::state_machine::State< SercosFsmBase >

Inherited by mcx::drive::FaultSercos, mcx::drive::Halt, mcx::drive::InOperation, mcx::drive::NotReadyToPowerOn, mcx::drive::ReadyForOperation, mcx::drive::ReadyForPowerOn, mcx::drive::TransitionSercos

Public Functions

	Name
	SercosFsmBase(SercosFsmData & data)
	~SercosFsmBase() override =default
virtual void	registerUserEvents() override
virtual state_machine::EventStatus	shutdown(int state_id)
virtual state_machine::EventStatus	switchOn(int state_id)
virtual state_machine::EventStatus	disableVoltage(int state_id)
virtual state_machine::EventStatus	quickStop(int state_id)
virtual state_machine::EventStatus	disableOperation(int state_id)
virtual state_machine::EventStatus	enableOperation(int state_id)
virtual state_machine::EventStatus	resetting(int state_id)
virtual state_machine::EventStatus	gotoOff()
virtual state_machine::EventStatus	gotoDisengage()
virtual state_machine::EventStatus	gotoEngage()
virtual state_machine::EventStatus	gotoQuickStop()
virtual state_machine::EventStatus	gotoModeAction()
virtual state_machine::EventStatus	faultAcknowledge()
virtual state_machine::EventStatus	switchMode(DriveMode drive_mode, const std::string & machine_name)
virtual state_machine::EventStatus	warning_(const mcx::state_machine::Error & error) override
virtual state_machine::EventStatus	forcedDisengaged_(const mcx::state_machine::Error & error) override
virtual state_machine::EventStatus	shutdown_(const mcx::state_machine::Error & error) override
virtual state_machine::EventStatus	emergencyStop_(const mcx::state_machine::Error & error) override

Protected Attributes

	Name
SercosFsmData &	fsm_data_

Additional inherited members

Public Functions inherited from mcx::state_machine::State< SercosFsmBase >

	Name
template <class STATE ,class MACHINE > void	create(MACHINE * newMachine, const STATE & state, int id, ErrorHandleBase * errorHandle)
void	addErrorsHelper(ErrorGroup * stateErrors, const ErrorGroup & errorsToAdd)
void	enableErrorsHelper(ErrorGroup * stateErrors, const ErrorGroup & refErrors, const ErrorGroup & errorsToAdd)
void	disableErrorsHelper(ErrorGroup * stateErrors, const ErrorGroup & errorsToAdd)
void	addErrors(const ErrorGroup & codes, signal_monitor::MonitorAction newAction)
template <class MACHINE > void	setMachine(MACHINE * newMachine)
template <class MACHINE > MACHINE *	getMachine()
	State()
virtual	~State()
double	getDtSec() const
int	id()
void	clearEventQueue(bool highPriority =true, bool lowPriority =true)
SUPER_STATE *	setActiveState(int state_id)
template <class NEWSTATE > NEWSTATE *	setActiveState()
template <class NEWSTATE > NEWSTATE *	setActiveState(const NEWSTATE & state)
template <typename… STATES> bool	isStateActive()
bool	isStateActive(int id)
void	addEvent(const Event0< SUPER_STATE > & event, double timeoutSec =EVENT_DEFAULT_TIMEOUT_SEC, EventPriority priority =HIGH_PRIORITY_EVENT)
void	addEvent(const Event1< SUPER_STATE > & event, double timeoutSec =EVENT_DEFAULT_TIMEOUT_SEC, EventPriority priority =HIGH_PRIORITY_EVENT)
void	addEvent(const Event2< SUPER_STATE > & event, double timeoutSec =EVENT_DEFAULT_TIMEOUT_SEC, EventPriority priority =HIGH_PRIORITY_EVENT)
void	addEvent(const Event3< SUPER_STATE > & event, double timeoutSec =EVENT_DEFAULT_TIMEOUT_SEC, EventPriority priority =HIGH_PRIORITY_EVENT)
double	getActiveTimeoutSec()
virtual const char *	stateName() const
virtual const char *	eventName(Event< SUPER_STATE > * event)
virtual EventStatus	acknowledgeErrors()
bool	clearErrorMonitor(bool warnings_only =false)
ErrorHandleBase *	getErrorMonitor()
EventStatus	warning(const Error & error)
EventStatus	forcedDisengaged(const Error & error)
EventStatus	emergencyStop(const Error & error)
EventStatus	delayEvent()
virtual EventStatus	terminateEvent()
void	errorMonitorAction()
virtual void	enter()
virtual void	enter(int prev_state_id)
virtual void	leave()
virtual void	leave(int next_state_id)
virtual void	iterate(double dt_sec)
template <class STATE > int	id(id_caller< STATE > )

Protected Functions inherited from mcx::state_machine::State< SercosFsmBase >

	Name
void	addToEventList(const event_name & event)
void	addEventName(const Event0< SUPER_STATE > & event, const std::string & eventName)
void	addEventName(const Event1< SUPER_STATE > & event, const std::string & eventName)
void	addEventName(const Event2< SUPER_STATE > & event, const std::string & eventName)
void	addEventName(const Event3< SUPER_STATE > & event, const std::string & eventName)

Public Functions Documentation

function SercosFsmBase

explicit SercosFsmBase(
    SercosFsmData & data
)

function ~SercosFsmBase

~SercosFsmBase() override =default

function registerUserEvents

virtual void registerUserEvents() override

Reimplements: mcx::state_machine::State::registerUserEvents

function shutdown

virtual state_machine::EventStatus shutdown(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::shutdown

function switchOn

virtual state_machine::EventStatus switchOn(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::switchOn

function disableVoltage

virtual state_machine::EventStatus disableVoltage(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::disableVoltage

function quickStop

virtual state_machine::EventStatus quickStop(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::quickStop

function disableOperation

virtual state_machine::EventStatus disableOperation(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::disableOperation

function enableOperation

virtual state_machine::EventStatus enableOperation(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::enableOperation

function resetting

virtual state_machine::EventStatus resetting(
    int state_id
)

Reimplemented by: mcx::drive::TransitionSercos::resetting

function gotoOff

virtual state_machine::EventStatus gotoOff()

Reimplemented by: mcx::drive::ReadyForOperation::gotoOff, mcx::drive::InOperation::gotoOff, mcx::drive::Halt::gotoOff

function gotoDisengage

virtual state_machine::EventStatus gotoDisengage()

Reimplemented by: mcx::drive::ReadyForPowerOn::gotoDisengage, mcx::drive::InOperation::gotoDisengage, mcx::drive::Halt::gotoDisengage

function gotoEngage

virtual state_machine::EventStatus gotoEngage()

Reimplemented by: mcx::drive::ReadyForPowerOn::gotoEngage, mcx::drive::ReadyForOperation::gotoEngage, mcx::drive::Halt::gotoEngage

function gotoQuickStop

virtual state_machine::EventStatus gotoQuickStop()

Reimplemented by: mcx::drive::InOperation::gotoQuickStop

function gotoModeAction

virtual state_machine::EventStatus gotoModeAction()

function faultAcknowledge

virtual state_machine::EventStatus faultAcknowledge()

Reimplemented by: mcx::drive::NotReadyToPowerOn::faultAcknowledge, mcx::drive::FaultSercos::faultAcknowledge

function switchMode

virtual state_machine::EventStatus switchMode(
    DriveMode drive_mode,
    const std::string & machine_name
)

function warning_

virtual state_machine::EventStatus warning_(
    const mcx::state_machine::Error & error
) override

Reimplements: mcx::state_machine::State::warning_

function forcedDisengaged_

virtual state_machine::EventStatus forcedDisengaged_(
    const mcx::state_machine::Error & error
) override

Reimplements: mcx::state_machine::State::forcedDisengaged_

function shutdown_

virtual state_machine::EventStatus shutdown_(
    const mcx::state_machine::Error & error
) override

Reimplements: mcx::state_machine::State::shutdown_

function emergencyStop_

virtual state_machine::EventStatus emergencyStop_(
    const mcx::state_machine::Error & error
) override

Reimplements: mcx::state_machine::State::emergencyStop_

Protected Attributes Documentation

variable fsm_data_

SercosFsmData & fsm_data_;

Updated on 2022-04-05 at 16:21:26 +0200