igh_od_entry.h

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#pragma once
 
#ifdef LINUX_BUILD
 
#include <atomic>
#include <condition_variable>
#include <cstdint>
#include <mutex>
#include <string>
 
#include "igh_dynamic.h"
#include "virtual_parameter.h"
 
class IghEthercatMaster;
 
class IghOdEntry : public VirtualParameter {
 public:
  friend class IghEthercatMaster;
  friend class IghEthercatSlave;
 
  union Value {
    uint64_t i = 0;
    float f;
 
    Value &operator=(const Value &other) {
      if (&other != this) {
        i = other.i;
      }
 
      return *this;
    }
 
    bool operator==(const Value &other) const { return i == other.i; }
  };
 
  enum class Error {
    kNone = 0,
    kMasterLinkDown,
    kSlaveNotFound,
    kSdoRequestInvalid,
    kSdoRequestBusy,
    kSdoRequestFailed,
    kTimeout,
    kFailed,
    kAborted,
    kTypeUnsupported,
    kTypeUnknown,
    kWriteOnlyValue,
    kUnknown
  };
 
  IghOdEntry(IghEthercatMaster &master, uint16_t absolute_slave_position,
             const ec_sdo_info_t &sdo_info,
             const ec_sdo_info_entry_t &sdo_info_entry, uint8_t subindex);
 
  IghOdEntry(IghEthercatMaster &master, uint16_t absolute_slave_position,
             const ec_sdo_info_t &sdo_info, uint8_t subindex,
             int32_t bit_length, uint16_t data_type,
             const std::string &description, bool read_access,
             bool write_access);
 
  VirtualParameter::Type get_parameter_type() override;
 
  uint16_t get_index() override;
 
  uint8_t get_subindex() override;
 
  bool is_pdo_mapped() override;
 
  bool set_pdo_mapping(PdoMapping pdo_mapping);
 
  uint64_t get_raw_value() override;
 
  uint64_t get_raw_value(bool force_refresh) override;
 
  int32_t get_int_value() override;
 
  int32_t get_int_value(bool force_refresh) override;
 
  float get_float_value() override;
 
  float get_float_value(bool force_refresh) override;
 
  std::string get_string_value() override;
 
  std::string get_string_value(bool force_refresh) override;
 
  bool get_value_status() override;
 
  int32_t set_raw_value(uint64_t value) override;
 
  int32_t set_value(int32_t value) override;
 
  int32_t set_value(float value) override;
 
  int32_t set_value(const std::string &value) override;
 
  ValueType get_value_type() override;
 
  std::string get_name() override;
 
  std::string get_parent_name() override;
 
  bool is_read() override;
 
  bool is_write() override;
 
  std::string get_unit() override;
 
  int32_t get_min() override;
 
  int32_t get_max() override;
 
  bool is_value_fresh() override;
 
  void set_value_stale();
 
  IghOdEntry::Error refresh_value();
 
  IghOdEntry::Error try_refresh_value();
 
 private:
  IghEthercatMaster &master_;
  uint16_t absolute_slave_position_;
 
  uint16_t index_;
  uint8_t subindex_;
 
  Value value_;
  std::string value_string_;
 
  int32_t bit_length_;
  uint8_t object_type_;  // define(s) in co_dictionary.h
  uint16_t entry_type_;  // define(s) in co_dictionary.h
  std::string name_;
  std::string parent_name_;
  bool read_access_;
  bool write_access_;
  std::string unit_;
  int32_t min_value_ = INT32_MIN;
  int32_t max_value_ = INT32_MAX;
 
  ec_sdo_request_t *upload_sdo_request_ = nullptr;
  ec_request_state_t upload_sdo_request_state_ = EC_REQUEST_UNUSED;
 
  ec_sdo_request_t *download_sdo_request_ = nullptr;
  ec_request_state_t download_sdo_request_state_ = EC_REQUEST_UNUSED;
 
  std::atomic_bool value_status_ = false;
  std::atomic_bool value_initially_refreshed_ = false;
  std::atomic_bool value_fresh_ = false;
  std::atomic_int refresh_value_sync_timeout_counter_ = 0;
 
  std::mutex set_value_sdo_mutex_;
 
  PdoMapping pdo_mapping_ = PdoMapping::kNotPdoMapped;
 
  int32_t set_value_sdo(uint64_t value);
 
  int32_t set_value_sdo(const std::string &value);
};
 
#endif