cinosfollowaxis.h

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//******************************************************************************
//******************************************************************************
 
#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
//------------------------------------------------------------------------------