full_auto_tuning.h

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#pragma once
 
#include <chrono>
#include <cstdint>
#include <map>
#include <mutex>
#include <string>
#include <variant>
 
#include "core/containers/thread_safe_queue.h"
#include "util.h"
 
class Cia402Drive;
class MotionMasterError;
 
class FullAutoTuning {
 public:
  FullAutoTuning(uint32_t device_address, Cia402Drive& cia402_drive,
                 ControllerType controller_type);

  std::variant<std::tuple<double, double, std::string>, MotionMasterError>
  start_full_position_auto_tuning();

  std::variant<std::tuple<double, double, std::string>, MotionMasterError>
  start_full_velocity_auto_tuning();

  void abort();

  bool abort_callback();

  void progress_callback(int32_t percentage);

  void warning_callback(
      motionmaster::MotionMasterMessage::Status::FullAutoTuning::Warning::Code
          warning_code,
      std::string message);

  mm::core::containers::ThreadSafeQueue<
      motionmaster::MotionMasterMessage::Status*>&
  get_status_message_queue();
 
 private:
  uint32_t device_address_;
  Cia402Drive& cia402_drive_;
 
  // Used for full position auto-tuning only
  ControllerType controller_type_;
 
  mm::core::containers::ThreadSafeQueue<
      motionmaster::MotionMasterMessage::Status*>
      outgoing_status_message_queue_;
 
  bool abort_ = false;

  double get_max_velocity_noise();

  static double get_missing_data_percentage(
      std::vector<int32_t>& raw_positions, std::vector<int32_t>& raw_velocities,
      std::vector<int16_t>& raw_torques);

  static std::vector<double> convert_velocity_to_rpm(
      const std::vector<int32_t>& raw_velocities, double gear_ratio,
      double velocity_unit_scaling, double feed_constant);
};