fastcat::Actuator Class Reference

#include "actuator.h"

Inheritance diagram for fastcat::Actuator:

Collaboration diagram for fastcat::Actuator:

Classes
struct	ActuatorParams

Public Member Functions
	Actuator ()
bool	ConfigFromYaml (const YAML::Node &node) override
bool	Read () override
FaultType	Process () override
bool	Write (DeviceCmd &cmd) override
void	Fault () override
void	Reset () override
bool	SetOutputPosition (double position)
bool	HasAbsoluteEncoder ()
void	SetExplicitInterpolationAlgorithm (ActuatorExplicitInterpolationAlgorithm algorithm)
void	SetExplicitInterpolationTimestampSource (ActuatorExplicitInterpolationTimestamp source)
void	SetExplicitInterpolationCyclesDelay (size_t cycles_delay)
void	SetInterpolationCyclesStale (size_t cycles)
const ActuatorParams &	GetParams ()
Public Member Functions inherited from fastcat::JsdDeviceBase
bool	Write (DeviceCmd &cmd) override
void	SetSlaveId (uint16_t slave_id)
uint16_t	GetSlaveId ()
void	SetContext (jsd_t *context)
void	RegisterSdoResponseQueue (std::shared_ptr< std::queue< SdoResponse > > sdo_response_queue)
void	SetOffline (bool is_offline)
bool	IsOffline ()
Public Member Functions inherited from fastcat::DeviceBase
virtual	~DeviceBase ()
virtual void	SetInitializationTime (double time_sec, double monotonic_time_sec)
void	RegisterCmdQueue (std::shared_ptr< ThreadSafeQueue< DeviceCmd > > cmd_queue)
std::string	GetName ()
std::shared_ptr< DeviceState >	GetState ()
void	SetTime (double time, double monotonic_time)
void	SetLoopPeriod (double loop_period)

Static Public Member Functions
static std::string	GetFastcatFaultCodeAsString (const DeviceState &state)
static std::string	GetJSDFaultCodeAsString (const DeviceState &state)
static bool	IsJsdFaultCodePresent (const DeviceState &state)
static double	GetActualPosition (const DeviceState &state)

Protected Member Functions
double	CntsToEu (int32_t cnts)
double	EuToCnts (double eu)
double	PosCntsToEu (int32_t cnts)
int32_t	PosEuToCnts (double eu)
void	TransitionToState (ActuatorStateMachineState sms)
bool	IsMotionFaultConditionMet ()
FaultType	ProcessProfPosTrapImpl ()
double	ComputeTargetPosProfPosCmd (const DeviceCmd &cmd)
double	ComputePower (double actual_velocity, double actual_current, bool motor_is_on)
Protected Member Functions inherited from fastcat::JsdDeviceBase
AsyncSdoRetVal	WriteAsyncSdoRequest (DeviceCmd &cmd)
AsyncSdoRetVal	WriteAsyncSdoRequestOnline (DeviceCmd &cmd)
AsyncSdoRetVal	WriteAsyncSdoRequestOffline (DeviceCmd &cmd)

Static Protected Member Functions
static std::string	StateMachineStateToString (ActuatorStateMachineState sms)

Protected Attributes
bool	compute_power_ = false
jsd_elmo_gain_scheduling_mode_t	ctrl_gs_mode_
jsd_slave_config_t	jsd_slave_config_ = {}
ActuatorStateMachineState	actuator_sms_ = ACTUATOR_SMS_HALTED
double	last_transition_time_ = 0.0
fastcat_trap_t	trap_ = {}
ActuatorParams	params_ = {}
ActuatorFastcatFault	fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_OKAY
DeviceCmd	last_cmd_ = {}
double	prof_disengaging_timeout_ = 1.0
Protected Attributes inherited from fastcat::JsdDeviceBase
bool	is_offline_ = false
	If is an offline version.
jsd_t *	context_ = NULL
	JSD context.
int	slave_id_ = 0
	EtherCAT Slave Index.
std::shared_ptr< std::queue< SdoResponse > >	sdo_response_queue_
Protected Attributes inherited from fastcat::DeviceBase
std::string	name_
	unique device name
double	last_monotonic_time_ = 0.0
double	loop_period_ = 0.0
	only some devices need
double	initialization_time_sec_ = -1
	only some devices need
double	monotonic_initialization_time_sec_ = -1
	only some devices need
bool	device_fault_active_ = false
	device-level fault, manager also has fault status flag
std::shared_ptr< DeviceState >	state_
	Fastcat state data.
std::shared_ptr< ThreadSafeQueue< DeviceCmd > >	cmd_queue_
	for intra-device commands

Additional Inherited Members
Public Types inherited from fastcat::JsdDeviceBase
enum	AsyncSdoRetVal { SDO_RET_VAL_FAILURE , SDO_RET_VAL_SUCCESS , SDO_RET_VAL_NOT_APPLICABLE }
Public Attributes inherited from fastcat::DeviceBase
std::vector< Signal >	signals_

Constructor & Destructor Documentation

Actuator()

fastcat::Actuator::Actuator

(

)

Member Function Documentation

CntsToEu()

double fastcat::Actuator::CntsToEu ( int32_t  cnts )

protected

ComputePower()

double fastcat::Actuator::ComputePower ( double  actual_velocity, double  actual_current, bool  motor_is_on  )

protected

ComputeTargetPosProfPosCmd()

double fastcat::Actuator::ComputeTargetPosProfPosCmd ( const DeviceCmd &  cmd )

protected

ConfigFromYaml()

bool fastcat::Actuator::ConfigFromYaml ( const YAML::Node &  node )

overridevirtual

Implements fastcat::DeviceBase.

Reimplemented in fastcat::GoldActuatorOffline, and fastcat::PlatinumActuatorOffline.

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EuToCnts()

double fastcat::Actuator::EuToCnts ( double  eu )

protected

Fault()

void fastcat::Actuator::Fault ( )

overridevirtual

Reimplemented from fastcat::DeviceBase.

GetActualPosition()

double fastcat::Actuator::GetActualPosition ( const DeviceState &  state )

static

GetFastcatFaultCodeAsString()

std::string fastcat::Actuator::GetFastcatFaultCodeAsString ( const DeviceState &  state )

static

GetJSDFaultCodeAsString()

std::string fastcat::Actuator::GetJSDFaultCodeAsString ( const DeviceState &  state )

static

GetParams()

const ActuatorParams & fastcat::Actuator::GetParams ( )

inline

HasAbsoluteEncoder()

bool fastcat::Actuator::HasAbsoluteEncoder

(

)

IsJsdFaultCodePresent()

bool fastcat::Actuator::IsJsdFaultCodePresent ( const DeviceState &  state )

static

IsMotionFaultConditionMet()

bool fastcat::Actuator::IsMotionFaultConditionMet ( )

protected

PosCntsToEu()

double fastcat::Actuator::PosCntsToEu ( int32_t  cnts )

protected

PosEuToCnts()

int32_t fastcat::Actuator::PosEuToCnts ( double  eu )

protected

Process()

fastcat::FaultType fastcat::Actuator::Process ( )

overridevirtual

Reimplemented from fastcat::DeviceBase.

ProcessProfPosTrapImpl()

fastcat::FaultType fastcat::Actuator::ProcessProfPosTrapImpl ( )

protected

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Read()

bool fastcat::Actuator::Read ( )

overridevirtual

Implements fastcat::DeviceBase.

Reset()

void fastcat::Actuator::Reset ( )

overridevirtual

Reimplemented from fastcat::DeviceBase.

SetExplicitInterpolationAlgorithm()

void fastcat::Actuator::SetExplicitInterpolationAlgorithm ( ActuatorExplicitInterpolationAlgorithm  algorithm )

inline

SetExplicitInterpolationCyclesDelay()

void fastcat::Actuator::SetExplicitInterpolationCyclesDelay ( size_t  cycles_delay )

inline

SetExplicitInterpolationTimestampSource()

void fastcat::Actuator::SetExplicitInterpolationTimestampSource ( ActuatorExplicitInterpolationTimestamp  source )

inline

SetInterpolationCyclesStale()

void fastcat::Actuator::SetInterpolationCyclesStale ( size_t  cycles )

inline

SetOutputPosition()

bool fastcat::Actuator::SetOutputPosition

(

double

position

)

StateMachineStateToString()

std::string fastcat::Actuator::StateMachineStateToString ( ActuatorStateMachineState  sms )

staticprotected

TransitionToState()

void fastcat::Actuator::TransitionToState ( ActuatorStateMachineState  sms )

protected

Write()

bool fastcat::Actuator::Write ( DeviceCmd &  cmd )

overridevirtual

Reimplemented from fastcat::DeviceBase.

Member Data Documentation

actuator_sms_

ActuatorStateMachineState fastcat::Actuator::actuator_sms_ = ACTUATOR_SMS_HALTED

protected

compute_power_

bool fastcat::Actuator::compute_power_ = false

protected

ctrl_gs_mode_

jsd_elmo_gain_scheduling_mode_t fastcat::Actuator::ctrl_gs_mode_

protected

Initial value:

=
      JSD_ELMO_GAIN_SCHEDULING_MODE_PRELOADED

fastcat_fault_

ActuatorFastcatFault fastcat::Actuator::fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_OKAY

protected

jsd_slave_config_

jsd_slave_config_t fastcat::Actuator::jsd_slave_config_ = {}

protected

last_cmd_

DeviceCmd fastcat::Actuator::last_cmd_ = {}

protected

last_transition_time_

double fastcat::Actuator::last_transition_time_ = 0.0

protected

params_

ActuatorParams fastcat::Actuator::params_ = {}

protected

prof_disengaging_timeout_

double fastcat::Actuator::prof_disengaging_timeout_ = 1.0

protected

trap_

fastcat_trap_t fastcat::Actuator::trap_ = {}

protected

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

• src/jsd/actuator.h
• src/jsd/actuator.cc
• src/jsd/actuator_fsm_helpers.cc