default_homing_mode.hpp

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#ifndef DEFAULT_HOMING_MODE_HPP
#define DEFAULT_HOMING_MODE_HPP
#include <mutex>
#include "canopen_base_driver/lely_driver_bridge.hpp"
#include "homing_mode.hpp"
 
namespace ros2_canopen
{
 
class DefaultHomingMode : public HomingMode
{
  const uint16_t index = 0x6098;
  std::shared_ptr<LelyDriverBridge> driver;
 
  std::atomic<bool> execute_;
 
  std::mutex mutex_;
  std::condition_variable cond_;
  uint16_t status_;
 
  enum SW_masks
  {
    MASK_Reached = (1 << State402::SW_Target_reached),
    MASK_Attained = (1 << SW_Attained),
    MASK_Error = (1 << SW_Error),
  };
  bool error(const std::string & msg)
  {
    execute_ = false;
    std::cout << msg << std::endl;
    return false;
  }
 
public:
  DefaultHomingMode(std::shared_ptr<LelyDriverBridge> driver) { this->driver = driver; }
  virtual bool start();
  virtual bool read(const uint16_t & sw);
  virtual bool write(OpModeAccesser & cw);
 
  virtual bool executeHoming();
};
}  // namespace ros2_canopen
#endif  // DEFAULT_HOMING_MODE_HPP