Representation of a CiA 402 state machine controller.
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#include <DriveStatusMachine.hpp>
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using | word_t = std::bitset< 16 > |
| | Fixed-size sequence of 16 bits.
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| DriveStatusMachine (ReceivePdo *rpdo, double timeout) |
| | Constructor, registers RPDO handle.
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void | configureRpdo (ReceivePdo *rpdo) |
| | Configure RPDO handle.
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bool | update (std::uint16_t statusword) |
| | Notify observers on a drive state change, if applicable.
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void | reset () |
| | Reset internally stored state.
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word_t | controlword () const |
| | Retrieve stored controlword.
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bool | controlword (const word_t &controlbits) |
| | Send command via object 6040h and update stored controlword.
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word_t | statusword () const |
| | Retrieve stored statusword.
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DriveState | getCurrentState () const |
| | Parse stored bit representation of a statusword into a DriveState enumerator.
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bool | requestTransition (DriveTransition transition) |
| | Request given drive transition via object 6040h (blocking), update stored controlword.
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bool | requestState (DriveState goalState) |
| | Request given drive state via object 6040h (blocking), update stored controlword.
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bool | awaitState (DriveState goalState) |
| | Await until drive reaches given state, with timeout.
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Manages internally a bit representation for both controlword (object 6040h) and statusword (object 6041h). This class hardcodes a list of allowed state transitions (should cover all of CiA 402 standard). Also, it supports a subset of state requests: it knows how to traverse the DriveState::SWITCH_ON_DISABLED to DriveState::OPERATION_ENABLED chain in both directions, and DriveState::QUICK_STOP_ACTIVE to DriveState::SWITCH_ON_DISABLED. Fault resets as well as quick stop transitions must be requested individually.
The documentation for this class was generated from the following files:
