cia402_drive.h

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#pragma once
 
#include <chrono>
#include <expected>
#include <string>
 
#include "node/cia402.h"
#include "node/profile_device.h"
 
namespace mm::node {
 
class Cia402Drive : public ProfileDevice {
 public:
  explicit Cia402Drive(Device& device) : ProfileDevice(device) {}
 
  std::expected<cia402::State, std::string> state() const;
 
  std::expected<uint16_t, std::string> statusword() const;
 
  std::expected<uint16_t, std::string> controlword() const;
 
  std::expected<void, std::string> setControlword(uint16_t value);
 
  std::expected<cia402::OperationMode, std::string> operationMode() const;
 
  std::expected<void, std::string> setOperationMode(cia402::OperationMode mode);
 
  // --- State-machine transitions ------------------------------------------------------------
  // Each issues exactly one controlword edge via a read-modify-write that touches only the
  // command bits (cia402::kCommandMask), preserving mode-specific / halt / manufacturer bits.
  // They command a transition; they do not wait for the drive to reach the target state.
 
  std::expected<void, std::string> shutdown();
 
  std::expected<void, std::string> switchOn();
 
  std::expected<void, std::string> enableOperation();
 
  std::expected<void, std::string> disableVoltage();
 
  std::expected<void, std::string> quickStop();
 
  std::expected<void, std::string> faultReset();
 
  // --- Convenience walks ---------------------------------------------------------------------
 
  std::expected<void, std::string> enable(
      std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
 
  std::expected<void, std::string> disable();
 
  // --- Cyclic setpoints (typed convenience over the standard objects) ------------------------
 
  std::expected<void, std::string> setTargetPosition(int32_t counts);
 
  std::expected<void, std::string> setTargetVelocity(int32_t value);
 
  std::expected<void, std::string> setTargetTorque(int16_t perMille);
 
  std::expected<int32_t, std::string> positionActualValue() const;
 
  std::expected<int32_t, std::string> velocityActualValue() const;
 
 private:
  std::expected<void, std::string> applyCommand(uint16_t command);
};
 
std::expected<Cia402Drive, std::string> createCia402Drive(Device& device);
 
}  // namespace mm::node