profiled_position_mode.hpp

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//    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 PROFILED_POSITION_MODE_HPP
#define PROFILED_POSITION_MODE_HPP
 
#include <cstdint>
#include <memory>
#include "canopen_base_driver/lely_driver_bridge.hpp"
#include "mode_target_helper.hpp"
 
namespace ros2_canopen
{
class ProfiledPositionMode : public ModeTargetHelper<int32_t>
{
  const uint16_t index = 0x607A;
  std::shared_ptr<LelyDriverBridge> driver;
 
  double last_target_;
  uint16_t sw_;
 
public:
  enum SW_masks
  {
    MASK_Reached = (1 << State402::SW_Target_reached),
    MASK_Acknowledged = (1 << State402::SW_Operation_mode_specific0),
    MASK_Error = (1 << State402::SW_Operation_mode_specific1),
  };
  enum CW_bits
  {
    CW_NewPoint = Command402::CW_Operation_mode_specific0,
    CW_Immediate = Command402::CW_Operation_mode_specific1,
    CW_Blending = Command402::CW_Operation_mode_specific3,
  };
  ProfiledPositionMode(std::shared_ptr<LelyDriverBridge> driver)
  : ModeTargetHelper(MotorBase::Profiled_Position)
  {
    this->driver = driver;
  }
 
  virtual bool start()
  {
    sw_ = 0;
    last_target_ = std::numeric_limits<double>::quiet_NaN();
    return ModeTargetHelper::start();
  }
  virtual bool read(const uint16_t & sw)
  {
    sw_ = sw;
    return (sw & MASK_Error) == 0;
  }
  virtual bool write(OpModeAccesser & cw)
  {
    cw.set(CW_Immediate);
    if (hasTarget())
    {
      int32_t target = getTarget();
      if ((sw_ & MASK_Acknowledged) == 0 && target != last_target_)
      {
        if (cw.get(CW_NewPoint))
        {
          cw.reset(CW_NewPoint);  // reset if needed
        }
        else
        {
          driver->universal_set_value(index, 0x0, target);
          cw.set(CW_NewPoint);
          last_target_ = target;
        }
      }
      else if (sw_ & MASK_Acknowledged)
      {
        cw.reset(CW_NewPoint);
      }
      return true;
    }
    return false;
  }
};
}  // namespace ros2_canopen
 
#endif  // PROFILED_POSITION_MODE_HPP