full_auto_tuning.h

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#pragma once
 
#include <readerwriterqueue/readerwriterqueue.h>
 
#include <chrono>
#include <cstdint>
#include <map>
#include <mutex>
#include <string>
#include <variant>
 
#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);
 
  moodycamel::ReaderWriterQueue<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_;
 
  moodycamel::ReaderWriterQueue<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);
};