doxygen/inos/cinosfollowaxis_8h_source.html

//******************************************************************************

//******************************************************************************


#pragma once

//

//------------------------------------------------------------------------------

// defines

//------------------------------------------------------------------------------

//

//

#include <cmath>


// --- synchronized axes states -------------------------------------------------------------

//

#define DF_INOS_FOLLOW_AXIS_FLAG_NO                     0x00000000  // no flag

#define DF_INOS_FOLLOW_AXIS_FLAG_IGN_CYCLEID            0x00000001  // ignore the cycle id of the axes

#define DF_INOS_FOLLOW_AXIS_FLAG_ALLOW_DIFF_CYCLETIMES  0x00000002  // allow axes with different if, and only if, the master axis uses the lower cycle time (= higher frequency)

#define DF_INOS_FOLLOW_AXIS_FLAG_LIMIT_TORQUE           0x00000004  //

//

// --- synchronized axes errors -------------------------------------------------------------

//

#define ER_INOS_FOLLOW_AXIS_NOT_SETUP                   0x00000001  // The follow axis object has not been setup or setup failed

#define ER_INOS_FOLLOW_AXIS_MASTER_NOTFOUND             0x00000002  // Master axis could not be found

#define ER_INOS_FOLLOW_AXIS_FOLLOWER_NOTFOUND           0x00000004  // Slave axis could not be found

#define ER_INOS_FOLLOW_AXIS_SAME                        0x00000008  // Same axis passed as master and slave

#define ER_INOS_FOLLOW_AXIS_CYCLENUMBER                 0x00000010  // Axes use different cycle number

#define ER_INOS_FOLLOW_AXIS_CYCLETIME                   0x00000020  // Axes use different cycle time

#define ER_INOS_FOLLOW_AXIS_CYCLETIME_SLAVE_SMALLER     0x00000040  // Slave axis uses smaller cycle time than master axis

#define ER_INOS_FOLLOW_AXIS_MASTER_NOT_PEACE            0x00000080  // Following will not be enabled as master axis is currently not in peace


#define ER_INOS_FOLLOW_AXIS_SLAVE_PULL_FAILED           0x00000100  // Passing new pull data to the slave axis failed

#define ER_INOS_FOLLOW_AXIS_MASTER_INACTIVE             0x00000200  // Master axis got disabled

#define ER_INOS_FOLLOW_AXIS_MASTER_ERROR                0x00000400  // master axis encountered an error

#define ER_INOS_FOLLOW_AXIS_SLAVE_ERROR                 0x00000800  // slave axis encountered an error


class CINOSFollowAxis {

    public:

        CINOSFollowAxis(const char* apMasterAxis, const char* apFollowerAxis);

        ~CINOSFollowAxis();

        uint32 Setup(uint32 auFlags = DF_INOS_FOLLOW_AXIS_FLAG_NO);

        uint32 Enable(real64 arFactor = REAL64(1.0));

        void Disable();

        uint32 GetError() {

            return m_uError;

        }

        bool IsSetup() const;


    private:

        void iHandle();

        void iDisable();

        void iCreateCommonAxisTorqueLimits();

        void iDestroyCommonAxisTorqueLimits();

        bool iIsCommonAxisTorqueLimitRequested() const;

        bool iIsCommonAxisTorqueLimitSetup() const;

        void iSetupCommonAxisTorqueLimit();

        void iRestoreOriginalAxisTorqueLimits();


    private:

        inosName32 m_cMasterAxis{};

        inosName32 m_cSlaveAxis{};

        CINOSBaseAxis* m_pMasterAxis{};

        CINOSBaseAxis* m_pSlaveAxis{};

        uintid m_uHookId{};

        SINOSBaseRampTrqLimit* m_pAccelerationLimit{};

        SINOSBaseRampTrqLimit* m_pDecelerationLimit{};

        SINOSBaseRampTrqLimit* m_pAccelerationLimitOrig{};

        SINOSBaseRampTrqLimit* m_pDecelerationLimitOrig{};

        uint32 m_uError{};

        real64 m_rFactor{REAL64(1.0)};

        real64 m_PrevMasterPos{};

        real64 m_PrevFollowerPos{};

        bool m_bHookEnabled{false};

        bool m_bDisableRequest{};

        CINOSSync m_DisableSync;

        bool m_bEnablingRequest{};

        CINOSSync m_EnableSync;

        uint32 m_nPullDataMultiplier{1};

        uint32 m_nPullDataCnt{0};


        DECLARE_DYNAMIC(CINOSFollowAxis);

};

//

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// end of file

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