roboticslab::DriveStatusMachine Class Reference

Representation of a CiA 402 state machine controller. More...

#include <DriveStatusMachine.hpp>

Public Types
using	word_t = std::bitset< 16 >
	Fixed-size sequence of 16 bits.

Public Member Functions
	DriveStatusMachine (ReceivePdo *rpdo, double timeout)
	Constructor, registers RPDO handle.
void	configureRpdo (ReceivePdo *rpdo)
	Configure RPDO handle.
bool	update (std::uint16_t statusword)
	Notify observers on a drive state change, if applicable.
void	reset ()
	Reset internally stored state.
word_t	controlword () const
	Retrieve stored controlword.
bool	controlword (const word_t &controlbits)
	Send command via object 6040h and update stored controlword.
word_t	statusword () const
	Retrieve stored statusword.
DriveState	getCurrentState () const
	Parse stored bit representation of a statusword into a DriveState enumerator.
bool	requestTransition (DriveTransition transition)
	Request given drive transition via object 6040h (blocking), update stored controlword.
bool	requestState (DriveState goalState)
	Request given drive state via object 6040h (blocking), update stored controlword.
bool	awaitState (DriveState goalState)
	Await until drive reaches given state, with timeout.

Static Public Member Functions
static DriveState	parseStatusword (std::uint16_t statusword)
	Parse bit representation into a DriveState enumerator.

Private Attributes
word_t	_controlword
word_t	_statusword
ReceivePdo *	rpdo
StateObserver	stateObserver
std::mutex	stateMutex

Detailed Description

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.

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The documentation for this class was generated from the following files:

• libraries/CanOpenNodeLib/DriveStatusMachine.hpp
• libraries/CanOpenNodeLib/DriveStatusMachine.cpp