cia402_drive.cc File Reference

#include "node/cia402_drive.h"
#include <chrono>
#include <format>
#include <nlohmann/json.hpp>
#include <optional>
#include <string>
#include <string_view>
#include <thread>

Include dependency graph for cia402_drive.cc:

Namespaces
namespace	mm
namespace	mm::node

Functions
void	mm::node::to_json (nlohmann::json &j, const Cia402Status &s)
	Serialises a Cia402Status. Emits state/modeName as human-readable strings alongside the numeric statusword, controlword, and modeOfOperation.
std::optional< Cia402Command >	mm::node::parseCia402Command (std::string_view token)
	Parses a command token ("enable" / "disable" / "quickStop" / "faultReset").
std::optional< Cia402TargetKind >	mm::node::parseCia402TargetKind (std::string_view token)
	Parses a target-kind token ("position" / "velocity" / "torque").
std::string_view	mm::node::toString (Cia402TargetKind kind)
	The token parseCia402TargetKind reads, for a JSON answer.
std::optional< Cia402TargetKind >	mm::node::targetKindForMode (cia402::OperationMode mode)
	The target kind an operation mode acts on: position for PP/CSP, velocity for PV/CSV, torque for PT/CST and CST with commutation angle. nullopt for a mode with no linear target: no mode, homing, vl (0x6042) and interpolated position (0x60C1).
void	mm::node::to_json (nlohmann::json &j, const TargetFromActual &t)
std::expected< Cia402Drive, std::string >	mm::node::createCia402Drive (Device &device)
	Validates that device implements the CiA402 profile, then binds a view to it.