cia402_drive.h File Reference

#include <chrono>
#include <expected>
#include <nlohmann/json_fwd.hpp>
#include <optional>
#include <string>
#include <string_view>
#include "node/cia402.h"
#include "node/profile_device.h"

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Classes
struct	mm::node::Cia402Status
	A snapshot of a CiA402 drive's control state — the values a control UI needs to show at a glance: the decoded state machine state, the raw status/control words, the active operation mode (display object 0x6061), and the setpoint currently commanded for that mode. Read in one shot by Cia402Drive::readStatus. More...
struct	mm::node::PositionRangeLimit
	Position range limit (0x607B) — the range position values wrap around in. More...
struct	mm::node::SoftwarePositionLimit
	Software position limit (0x607D) — the absolute end stops enforced in software. More...
struct	mm::node::GearRatio
	Gear ratio (0x6091) — motor revolutions per driving shaft revolutions. More...
struct	mm::node::FeedConstant
	Feed constant (0x6092) — feed (position units) per driving shaft revolutions. More...
struct	mm::node::HomingSpeeds
	Homing speeds (0x6099) — the two velocities of a homing run. More...
struct	mm::node::DigitalOutputs
	Digital outputs (0x60FE) — commanded output levels gated by an enable mask. More...
class	mm::node::Cia402Drive
	Borrowed view of a CiA402 drive — the device control state machine, operation modes, and the standard cyclic setpoints, expressed over a Device's parameter access. More...

Namespaces
namespace	mm
namespace	mm::node

Enumerations
enum class	mm::node::Cia402Command { mm::node::kEnable , mm::node::kDisable , mm::node::kQuickStop , mm::node::kFaultReset }
	High-level state-machine actions a client can command (the named transitions a UI exposes as buttons). Distinct from cia402::Command (raw controlword bit patterns). More...
enum class	mm::node::Cia402TargetKind { mm::node::kPosition , mm::node::kVelocity , mm::node::kTorque }
	Which cyclic setpoint a target write addresses. Exactly one is active at a time — the one matching the drive's operation mode (position for PP/CSP, velocity for PV/CSV, torque for PT/CST) — so a target write names its kind rather than setting all three. More...

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::expected< Cia402Drive, std::string >	mm::node::createCia402Drive (Device &device)
	Validates that device implements the CiA402 profile, then binds a view to it.