CANPowerSupply.h

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/*
 * Copyright (C) 2012 MetraLabs GmbH (MLAB), GERMANY.
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 * Contact: info@MetraLabs.com
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#ifndef _MLAB_CANPOWERSUPPLY_H_
#define _MLAB_CANPOWERSUPPLY_H_

namespace mira { namespace robot {


class CANPowerSupply
{
public:

    CANPowerSupply() :
        subIndexEnable(0x01),
        subIndexMaxCurrent(0x03),
        subIndexCurrent(0x05),
        subIndexVoltage(0x04),
        subIndexStatus(0x02),
        hasVoltage(true)
    {}

    virtual ~CANPowerSupply() {}

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.property("MaxCurrent",
                   getter<float>(boost::bind(&CANPowerSupply::getMaxCurrent, this)),
                   setter<float>(boost::bind(&CANPowerSupply::setMaxCurrent, this, _1)),
                   "Max current [A]", serialization::IgnoreMissing());

        // Enable properties
        r.property("Enabled",
                   getter<bool>(boost::bind(&CANPowerSupply::isEnabled, this)),
                   setter<bool>(boost::bind(&CANPowerSupply::enable, this, _1)),
                   "Is power enabled", serialization::IgnoreMissing());

        // Current properties
        r.roproperty("Current",
                     getter<float>(boost::bind(&CANPowerSupply::getCurrent, this)),
                     "Current current [A]");

        // only if supply supports voltage information
        if (hasVoltage)
        {
            // Voltage properties
            r.roproperty("Voltage",
                         getter<float>(boost::bind(&CANPowerSupply::getVoltage, this)),
                         "Current voltage [V]");
        }

        // Status properties
        r.roproperty("Status",
                     getter<std::string>(boost::bind(&CANPowerSupply::getStatus, this)),
                     "Current status");
    }


public:

    void setMaxCurrent(float current)
    {
        uint16 maxCurrent = (uint16)(current*1000.0f);
        sdoClient->writeSync<uint16>(nodeID, index, subIndexMaxCurrent, maxCurrent);
    }

    float getMaxCurrent()
    {
        return 0.001f * sdoClient->readSync<uint16>(nodeID, index, subIndexMaxCurrent);
    }

    void enable(bool enable)
    {
        sdoClient->writeSync<uint8>(nodeID, index, subIndexEnable, enable ? 0x01 : 0x00);
    }

    bool isEnabled()
    {
        return sdoClient->readSync<uint8>(nodeID, index, subIndexEnable) > 0x00;
    }

    float getCurrent()
    {
        return 0.001f * sdoClient->readSync<uint16>(nodeID, index, subIndexCurrent);
    }

    float getVoltage()
    {
        return 0.001f * sdoClient->readSync<uint16>(nodeID, index, subIndexVoltage);
    }

    virtual std::string getStatus()
    {
        uint8 status = sdoClient->readSync<uint8>(nodeID, index, subIndexStatus);
        std::string r = (status & 0x01) ? "on" : "off";
        if ((status & 0x01) && (status & 0x02))
            r += ", error";
        return r;
    }


public:
    uint8 nodeID;

    uint16 index;

    uint8 subIndexEnable;

    uint8 subIndexMaxCurrent;

    uint8 subIndexCurrent;

    uint8 subIndexVoltage;

    uint8 subIndexStatus;

    mira::can::CANOpenSDOClientPtr sdoClient;

    bool hasVoltage;
};


}}

#endif