FixedVoltageOutput.h

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#ifndef _MLAB_SCITOS_FUNCTION_BLOCK_FIXED_VOLTAGE_OUTPUT_H_
#define _MLAB_SCITOS_FUNCTION_BLOCK_FIXED_VOLTAGE_OUTPUT_H_

#include <FunctionBlock.h>

namespace mira { namespace robot {


class FixedVoltageOutput_v0_2 : public FunctionBlock
{
    MIRA_OBJECT(FixedVoltageOutput_v0_2)
public:

    FixedVoltageOutput_v0_2() :
        subIndexEnable(0x07),
        subIndexMaxCurrent(0x09),
        subIndexCurrent(0x0b),
        subIndexVoltage(0x0a),
        subIndexStatus(0x08),
        subIndexInitState(0x0c)
    {
        functionBlockID = 0x01010002;
    }

    virtual ~FixedVoltageOutput_v0_2() {}

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, FunctionBlock);

        r.property("MaxCurrent",
                   getter<float>(boost::bind(&FixedVoltageOutput_v0_2::getMaxCurrent, this)),
                   setter<float>(boost::bind(&FixedVoltageOutput_v0_2::setMaxCurrent, this, _1)),
                   "Max current [A]", serialization::IgnoreMissing());

        r.property("Enabled",
                   getter<bool>(boost::bind(&FixedVoltageOutput_v0_2::isEnabled, this)),
                   setter<bool>(boost::bind(&FixedVoltageOutput_v0_2::enable, this, _1)),
                   "Is power enabled", serialization::IgnoreMissing());

        r.roproperty("Current",
                     getter<float>(boost::bind(&FixedVoltageOutput_v0_2::getCurrent, this)),
                     "Current current [A]");

        r.roproperty("Voltage",
                     getter<float>(boost::bind(&FixedVoltageOutput_v0_2::getVoltage, this)),
                     "Current voltage [V]");

        r.roproperty("Status",
                     getter<std::string>(boost::bind(&FixedVoltageOutput_v0_2::getStatus, this)),
                     "Current status");

        r.roproperty("InitState",
                     getter<uint32>(boost::bind(&FixedVoltageOutput_v0_2::getInitState, this)),
                     "Initial state after power on.",
                     PropertyHints::enumeration("0=off;1=on"));
    }


public:

    void setMaxCurrent(float current)
    {
        uint32 maxCurrent = (uint32)(current*1000.0f);
        sdoClient->writeSync<uint32>(nodeID, index, subIndexMaxCurrent, maxCurrent);
    }

    float getMaxCurrent()
    {
        return 0.001f * sdoClient->readSync<uint32>(nodeID, index, subIndexMaxCurrent);
    }

    void enable(bool enable)
    {
        sdoClient->writeSync<uint32>(nodeID, index, subIndexEnable, enable ? 0x01 : 0x00);
    }

    bool isEnabled()
    {
        return sdoClient->readSync<uint32>(nodeID, index, subIndexEnable) > 0x00;
    }

    float getCurrent()
    {
        return 0.001f * sdoClient->readSync<int32>(nodeID, index, subIndexCurrent);
    }

    float getVoltage()
    {
        return 0.001f * sdoClient->readSync<uint32>(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;
    }

    uint32 getInitState()
    {
        return sdoClient->readSync<uint32>(nodeID, index, subIndexInitState);
    }


protected:
    uint8 subIndexEnable;

    uint8 subIndexMaxCurrent;

    uint8 subIndexCurrent;

    uint8 subIndexVoltage;

    uint8 subIndexStatus;

    uint8 subIndexInitState;
};


class FixedVoltageOutput_v0_3 : public FixedVoltageOutput_v0_2
{
    MIRA_OBJECT(FixedVoltageOutput_v0_3)
public:
    FixedVoltageOutput_v0_3() : FixedVoltageOutput_v0_2()
    {
        subIndexCurrent = 0x0c;
        subIndexVoltage = 0x0b;
        subIndexInitState = 0x0d;
        functionBlockID = 0x01010003;
    }
};


class FixedVoltageOutput_v0_4 : public FixedVoltageOutput_v0_2
{
    MIRA_OBJECT(FixedVoltageOutput_v0_4)
public:
    FixedVoltageOutput_v0_4() : FixedVoltageOutput_v0_2()
    {
        subIndexCurrent = 0x0f;
        subIndexVoltage = 0x0e;
        subIndexInitState = 0x10;
        functionBlockID = 0x01010004;

        subIndexMinCurrent = 0x0a;
    }

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, FixedVoltageOutput_v0_2);

        r.property("MinCurrent",
                   getter<float>(boost::bind(&FixedVoltageOutput_v0_4::getMinCurrent, this)),
                   setter<float>(boost::bind(&FixedVoltageOutput_v0_4::setMinCurrent, this, _1)),
                   "Min current [A]", serialization::IgnoreMissing());
    }

public:

    void setMinCurrent(float current)
    {
        uint32 minCurrent = (uint32)(current*1000.0f);
        sdoClient->writeSync<uint32>(nodeID, index, subIndexMinCurrent, minCurrent);
    }

    float getMinCurrent()
    {
        return 0.001f * sdoClient->readSync<uint32>(nodeID, index, subIndexMinCurrent);
    }


protected:
    uint8 subIndexMinCurrent;
};


class FixedVoltageOutput_v1_1 : public FixedVoltageOutput_v0_4
{
    MIRA_OBJECT(FixedVoltageOutput_v1_1)
public:
    FixedVoltageOutput_v1_1() : FixedVoltageOutput_v0_4()
    {
        functionBlockID = 0x01010101;
    }
};


class FixedVoltageOutput_v2 : public FunctionBlock
{
    MIRA_OBJECT(FixedVoltageOutput_v2)
public:

    FixedVoltageOutput_v2() :
        subIndexEnable(0x07),
        subIndexMinCurrent(0x0F),
        subIndexMaxCurrent(0x0C),
        subIndexCurrent(0x06),
        subIndexVoltage(0x05),
        subIndexStatus(0x07),
        subIndexInitState(0x08)
    {
        functionBlockID = 0x01010200;
    }

    virtual ~FixedVoltageOutput_v2() {}

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, FunctionBlock);

        r.property("MinCurrent",
                   getter<float>(boost::bind(&FixedVoltageOutput_v2::getMinCurrent, this)),
                   setter<float>(boost::bind(&FixedVoltageOutput_v2::setMinCurrent, this, _1)),
                   "Min current [A]", serialization::IgnoreMissing());

        r.property("MaxCurrent",
                   getter<float>(boost::bind(&FixedVoltageOutput_v2::getMaxCurrent, this)),
                   setter<float>(boost::bind(&FixedVoltageOutput_v2::setMaxCurrent, this, _1)),
                   "Max current [A]", serialization::IgnoreMissing());

        r.property("Enabled",
                   getter<bool>(boost::bind(&FixedVoltageOutput_v2::isEnabled, this)),
                   setter<bool>(boost::bind(&FixedVoltageOutput_v2::enable, this, _1)),
                   "Is power enabled", serialization::IgnoreMissing());

        r.roproperty("Current",
                     getter<float>(boost::bind(&FixedVoltageOutput_v2::getCurrent, this)),
                     "Current current [A]");

        r.roproperty("Voltage",
                     getter<float>(boost::bind(&FixedVoltageOutput_v2::getVoltage, this)),
                     "Current voltage [V]");

        r.roproperty("Status",
                     getter<std::string>(boost::bind(&FixedVoltageOutput_v2::getStatus, this)),
                     "Current status");

        r.roproperty("InitState",
                     getter<uint32>(boost::bind(&FixedVoltageOutput_v2::getInitState, this)),
                     "Initial state after power on.",
                     PropertyHints::enumeration("0=off;1=on"));
    }


public:

    void setMinCurrent(float current)
    {
        int32 minCurrent = (int32)(current*1000.0f);
        sdoClient->writeSync<int32>(nodeID, index, subIndexMinCurrent, minCurrent);
    }

    float getMinCurrent()
    {
        return 0.001f * sdoClient->readSync<int32>(nodeID, index, subIndexMinCurrent);
    }

    void setMaxCurrent(float current)
    {
        int32 maxCurrent = (int32)(current*1000.0f);
        sdoClient->writeSync<int32>(nodeID, index, subIndexMaxCurrent, maxCurrent);
    }

    float getMaxCurrent()
    {
        return 0.001f * sdoClient->readSync<int32>(nodeID, index, subIndexMaxCurrent);
    }

    void enable(bool enable)
    {
        sdoClient->writeSync<uint32>(nodeID, index, subIndexEnable, enable ? 0x01 : 0x00);
    }

    bool isEnabled()
    {
        return sdoClient->readSync<uint32>(nodeID, index, subIndexEnable) > 0x00;
    }

    float getCurrent()
    {
        return 0.001f * sdoClient->readSync<int32>(nodeID, index, subIndexCurrent);
    }

    float getVoltage()
    {
        return 0.001f * sdoClient->readSync<uint32>(nodeID, index, subIndexVoltage);
    }

    virtual std::string getStatus()
    {
        uint32 state = sdoClient->readSync<uint32>(nodeID, index, subIndexEnable);
        std::string r = (state & 0x01) ? "on" : "off";

        uint32 error = sdoClient->readSync<uint32>(nodeID, index, 0x13);
        if (error & 0x01)
            r += ", OverVoltage";
        if (error & 0x02)
            r += ", UnderVoltage";
        if (error & 0x04)
            r += ", OverCurrent";
        if (error & 0x08)
            r += ", UnderCurrent";
        if (error & 0x10)
            r += ", ExternalError";
        if (error & 0x20)
            r += ", UnderCurrentTimeout";
        if (error & 0x40)
            r += ", WaitForStartup";

        return r;
    }

    uint8 getInitState()
    {
        return sdoClient->readSync<uint8>(nodeID, index, subIndexInitState);
    }


protected:
    uint8 subIndexEnable;

    uint8 subIndexMinCurrent;

    uint8 subIndexMaxCurrent;

    uint8 subIndexCurrent;

    uint8 subIndexVoltage;

    uint8 subIndexStatus;

    uint8 subIndexInitState;
};


}}

#endif