Inheritance diagram for fastcat::GoldActuator:

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Collaboration diagram for fastcat::GoldActuator:

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Public Member Functions
	GoldActuator ()

Public Member Functions inherited from fastcat::Actuator
	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)

Protected Attributes
jsd_egd_state_t	jsd_egd_state_ = {}

Protected Attributes inherited from fastcat::Actuator
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 }

Static Public Member Functions inherited from fastcat::Actuator
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)

Public Attributes inherited from fastcat::DeviceBase
std::vector< Signal >	signals_

Protected Member Functions inherited from fastcat::Actuator
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 inherited from fastcat::Actuator
static std::string	StateMachineStateToString (ActuatorStateMachineState sms)

Constructor & Destructor Documentation

◆ GoldActuator()

fastcat::GoldActuator::GoldActuator ( )

friend class Tester

friend

jsd_egd_state_t fastcat::GoldActuator::jsd_egd_state_ = {}

protected

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