mode.hpp

Go to the documentation of this file.

//    Copyright 2023 Christoph Hellmann Santos
//    Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
//
 
#ifndef CANOPEN_402_DRIVER_MODE_HPP
#define CANOPEN_402_DRIVER_MODE_HPP
 
#include <cstdint>
#include <memory>
#include "command.hpp"
#include "state.hpp"
#include "word_accessor.hpp"
 
namespace ros2_canopen
{
class Mode
{
public:
  const uint16_t mode_id_;
  Mode(uint16_t id) : mode_id_(id) {}
  typedef WordAccessor<
    (1 << Command402::CW_Operation_mode_specific0) |
    (1 << Command402::CW_Operation_mode_specific1) |
    (1 << Command402::CW_Operation_mode_specific2) | (1 << Command402::CW_Operation_mode_specific3)>
    OpModeAccesser;
  virtual bool start() = 0;
  virtual bool read(const uint16_t & sw) = 0;
  virtual bool write(OpModeAccesser & cw) = 0;
  virtual bool setTarget(const double & val) { return false; }
  virtual ~Mode() {}
};
typedef std::shared_ptr<Mode> ModeSharedPtr;
}  // namespace ros2_canopen
 
#endif  // CANOPEN_402_DRIVER_MODE_HPP