373 lines
10 KiB
C++
373 lines
10 KiB
C++
#ifndef masterMacsAXIS_H
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#define masterMacsAXIS_H
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#include "masterMacsController.h"
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#include "sinqAxis.h"
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#include <memory>
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struct HIDDEN masterMacsAxisImpl;
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class HIDDEN masterMacsAxis : public sinqAxis {
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public:
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/**
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* @brief Construct a new masterMacsAxis
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*
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* @param pController Pointer to the associated controller
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* @param axisNo Index of the axis
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*/
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masterMacsAxis(masterMacsController *pController, int axisNo);
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/**
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* @brief Delete the copy and copy assignment constructors, because this
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* class should not be copied (it is tied to hardware!)
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*/
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masterMacsAxis(const masterMacsAxis &) = delete;
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masterMacsAxis &operator=(const masterMacsAxis &) = delete;
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/**
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* @brief Destroy the masterMacsAxis
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*
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*/
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virtual ~masterMacsAxis();
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/**
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* @brief Implementation of the `doHome` function from sinqAxis. The
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* parameters are described in the documentation of `sinqAxis::doHome`.
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*
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* @param minVelocity
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* @param maxVelocity
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* @param acceleration
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* @param forwards
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* @return asynStatus
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*/
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asynStatus doHome(double minVelocity, double maxVelocity,
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double acceleration, int forwards);
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/**
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* @brief Implementation of the `doPoll` function from sinqAxis. The
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* parameters are described in the documentation of `sinqAxis::doPoll`.
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*
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* @param moving
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* @return asynStatus
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*/
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asynStatus doPoll(bool *moving);
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/**
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* @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
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* parameters are described in the documentation of
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* `sinqAxis::doMoveVelocity`.
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*
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* @param minVelocity
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* @param maxVelocity
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* @param acceleration
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* @return asynStatus
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*/
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asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
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double acceleration);
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/**
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* @brief Implementation of the `doMove` function from sinqAxis. The
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* parameters are described in the documentation of `sinqAxis::doMove`.
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*
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* @param position
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* @param relative
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* @param minVelocity
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* @param maxVelocity
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* @param acceleration
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* @return asynStatus
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*/
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asynStatus doMove(double position, int relative, double minVelocity,
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double maxVelocity, double acceleration);
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/**
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* @brief Implementation of the `stop` function from asynMotorAxis
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*
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* @param acceleration Acceleration ACCEL from the motor record. This
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* value is currently not used.
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* @return asynStatus
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*/
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asynStatus stop(double acceleration);
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/**
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* @brief Implementation of the `doReset` function from sinqAxis.
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*
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* @param on
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* @return asynStatus
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*/
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asynStatus doReset();
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/**
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* @brief Performs a "node reset" on the axis as defined in the CANopen
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* standard
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*
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* A "node reset" is a factory reset on the axis which completely deletes
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* all configured information (e.g. limits or speed) from the axis. The
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* MasterMACS controller then reapplies the initial configuration to this
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* axis. It can therefore be seen as a "hard" version of the normal error
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* reset performed by the `doReset` method.
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*
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* @return asynStatus
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*/
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asynStatus nodeReset();
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/**
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* @brief Readout of some values from the controller at IOC startup
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*
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* The following steps are performed:
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* - Read out the motor status, motor position, velocity and
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* acceleration from the MCU and store this information in the parameter
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* library.
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* - Set the enable PV accordint to the initial status of the axis.
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*
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* @return asynStatus
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*/
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asynStatus init();
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/**
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* @brief Enable / disable the axis.
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*
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* @param on
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* @return asynStatus
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*/
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asynStatus enable(bool on);
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/**
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* @brief Write the new operation mode (position or velocity) to the
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* MasterMACS controller.
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*
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* @param mode
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* @return asynStatus
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*/
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asynStatus setMode(int mode);
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/**
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* @brief Read the encoder type (incremental or absolute) for this axis
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* from the MCU and store the information in the PV ENCODER_TYPE.
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*
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* @return asynStatus
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*/
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asynStatus readEncoderType();
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/**
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* @brief Check if the axis needs to run its initialization function
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*
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* @return true
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* @return false
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*/
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bool needInit();
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/**
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* @brief Instruct the axis to run its init() function during the next
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* poll
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*
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* @param needInit
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*/
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void setNeedInit(bool needInit);
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/**
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* @brief Return a pointer to the axis controller
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*/
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virtual masterMacsController *pController() override { return pC_; };
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/**
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* @brief Read the Master MACS status with the xR10 command and store
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* the result in axisStatus (see masterMacsAxisImpl redefinition in
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* masterMacsAxis.cpp)
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*
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*/
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asynStatus readAxisStatus();
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/**
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* @brief Read the upper and lower limits and store them in the parameter
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* library.
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*/
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asynStatus readLimits();
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/*
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The functions below read the specified status bit from the axisStatus (see
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masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
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can either be 0 or 1, the return value is given as a boolean.
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*/
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool readyToBeSwitchedOn();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool switchedOn();
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// Bit 2 is unused
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool faultConditionSet();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool voltagePresent();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool quickStopping();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool switchOnDisabled();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool warning();
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// Bit 8 is unused
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool remoteMode();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool targetReached();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool internalLimitActive();
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// Bits 12 and 13 are unused
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool setEventHasOcurred();
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/**
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* @brief Read the property from axisStatus (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool powerEnabled();
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/**
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* @brief Read the Master MACS error with the xR10 command and store
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* the result in axisError (see masterMacsAxisImpl redefinition in
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* masterMacsAxis.cpp)
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*
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*/
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asynStatus readAxisError();
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/*
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The functions below read the specified error bit from the axisError (see
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masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
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can either be 0 or 1, the return value is given as a boolean.
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*/
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool shortCircuit();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool encoderError();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool followingError();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool communicationError();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool feedbackError();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool positiveLimitSwitch();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool negativeLimitSwitch();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool positiveSoftwareLimit();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool negativeSoftwareLimit();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool overCurrent();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool overTemperature();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool overVoltage();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool underVoltage();
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/**
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* @brief Read the property from axisError (see masterMacsAxisImpl
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* redefinition in masterMacsAxis.cpp)
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*/
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bool stoFault();
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private:
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masterMacsController *pC_;
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std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
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};
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#endif
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