mock_master.h

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#pragma once
 
#include <atomic>
#include <map>
#include <random>
 
#include "ethercat_master.h"
#include "util.h"
 
class MockSlave;
 
class MockMaster : public EthercatMaster {
 public:
  explicit MockMaster(uint16_t devices);
  ~MockMaster() override;
 
  size_t start() override;
 
  void stop() override;
 
  size_t restart() override;
 
  int32_t execute(uint64_t pending_signals) override;
 
  bool is_running() override;
 
  int get_slaves_responding() override;
 
  std::list<VirtualDevice *> get_slaves() override;
 
  bool disable_all_slaves() override;
 
  void abort_all_client_requests() override {};
 
 private:
  std::map<int32_t, MockSlave *> slaves_;
  std::atomic_bool running_;
 
  // Motor simulation
  std::vector<double> actual_positions_;
  std::vector<double> actual_velocities_;
  std::vector<double> actual_torques_;
 
  std::vector<LowPassFilter> velocity_filters_;
  std::vector<LowPassFilter> torque_filters_;
 
  std::random_device random_device_;
  std::mt19937 random_generator_;
 
  const double inertia_ = 7.0e-5;           // Inertia constant
  const double friction_ = 5.0e-4;          // Friction constant
  const double sampling_time_ = 1000.0e-6;  // One millisecond
 
  const double a0_ =
      sampling_time_ / (2 * inertia_ + sampling_time_ * friction_);
  const double a1_ =
      sampling_time_ / (2 * inertia_ + sampling_time_ * friction_);
  const double b1_ = -1 * (sampling_time_ * friction_ - 2 * inertia_) /
                     (2 * inertia_ + sampling_time_ * friction_);
 
  static uint32_t get_statusword(uint32_t statusword, uint32_t controlword);
  static uint32_t get_motion_encoder_resolution(MockSlave *mock_slave);
 
  static bool is_controlword_switch_on(uint32_t control_word);
  static bool is_controlword_enable_voltage(uint32_t control_word);
  static bool is_controlword_quick_stop(uint32_t control_word);
  static bool is_controlword_enable_op(uint32_t control_word);
  static bool is_controlword_fault_reset(uint32_t control_word);
  static bool ctrl_shutdown(uint32_t control_word);
  static bool ctrl_switch_on(uint32_t control_word);
  static bool ctrl_disable_volt(uint32_t control_word);
  static bool ctrl_quick_stop(uint32_t control_word);
  static bool ctrl_disable_op(uint32_t control_word);
  static bool ctrl_enable_op(uint32_t control_word);
  static bool ctrl_communication_timeout(uint32_t control_word);
};