somanet_control.h

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#pragma once
 
#include <chrono>
#include <cstdint>
#include <expected>
#include <string>
#include <vector>
 
#include "node/device_manager.h"
#include "node/plant_identification.h"
#include "node/somanet_drive.h"
 
namespace mm::node {
 
 
std::expected<BrakeState, std::string> brakeState(DeviceManager& deviceManager,
                                                  uint16_t slavePosition);
 
std::expected<Encoders, std::string> encoders(DeviceManager& deviceManager, uint16_t slavePosition);
 
std::expected<BrakeState, std::string> releaseBrake(DeviceManager& deviceManager,
                                                    uint16_t slavePosition,
                                                    std::chrono::milliseconds settle);
 
std::expected<BrakeState, std::string> engageBrake(DeviceManager& deviceManager,
                                                   uint16_t slavePosition,
                                                   std::chrono::milliseconds settle);
 
std::expected<std::vector<DeviceFile>, std::string> readFileList(DeviceManager& deviceManager,
                                                                 uint16_t slavePosition);
 
std::expected<void, std::string> removeFile(DeviceManager& deviceManager, uint16_t slavePosition,
                                            const std::string& filename);
 
std::expected<HardwareDescription, std::string> readHardwareDescription(
    DeviceManager& deviceManager, uint16_t slavePosition);
 
std::expected<std::optional<PlantModel>, std::string> readPlantModel(DeviceManager& deviceManager,
                                                                     uint16_t slavePosition);
 
std::expected<std::optional<IntegroVariant>, std::string> readIntegroVariant(
    DeviceManager& deviceManager, uint16_t slavePosition);
 
std::expected<FirmwareCompatibility, std::string> checkFirmwarePackage(
    DeviceManager& deviceManager, uint16_t slavePosition, std::string_view packageFilename);
 
std::expected<HrdRecording, std::string> readHrdRecording(DeviceManager& deviceManager,
                                                          uint16_t slavePosition,
                                                          somanet::HrdData data);
 
}  // namespace mm::node