109 lines
3.1 KiB
C++
109 lines
3.1 KiB
C++
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/*
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* MoveToPoint.hh
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*
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* Created on: 8 <EFBFBD><EFBFBD><EFBFBD>. 2020 <EFBFBD>.
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* Author: LeonidTitov
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*/
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#ifndef UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINT_HH_
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#define UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINT_HH_
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#include "../ITechFunction.hh"
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#include "../../processing/acs/VectorAsyncInterface.hh"
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#include "../adapter/ControlSystemWrapper.hpp"
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#include "../../systemic/IProcess.hh"
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#include "../../systemic/Timer.hh"
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namespace technological { namespace function {
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class MoveToPoint : public ITechFunction, public systemic::IProcess {
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public:
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struct Input {
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float position_stp; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD>.
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float torque_lim; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20>*<2A>.
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float speed_lim; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD>/<2F>.
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float acc_lim; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD>/<2F>^2.
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};
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struct Output {
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float position; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD>.
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float setpoint; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD>.
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};
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bool run( const char * value, std::size_t size );
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void stop();
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bool getResult( char * value, std::size_t size ) const;
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short getState() const;
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void process();
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MoveToPoint( ResourceKeeper< technological::adapter::TieInterface<vector::ITechValue> > & control_system_wrapper,
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ResourceKeeper<vector::ITechValue> & speed_limit,
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ResourceKeeper<vector::ITechValue> & torque_limit,
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ResourceKeeper<vector::ITechValue> & acc_limit
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);
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struct Setting {
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float retention_accuracy; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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float on_position_timeout; //!<<3C><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20>.
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Setting();
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bool isValid();
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};
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void configure( Setting & config );
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
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bool isSizeError() const; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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bool isInvalidInput() const; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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bool isControlSystemBusy() const; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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protected:
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virtual void on_start( Input & input, float start_point, systemic::time_t on_position_timeout ) {}
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virtual void in_progress() {}
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virtual void on_end() {}
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enum RunErrors {
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Empty,
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SizeError,
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InvalidInput,
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ControlSystemBusy,
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} run_result;
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private:
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bool handle( Input & input );
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Locable< technological::adapter::TieInterface<vector::ITechValue> > wrapper;
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vector::ITechValue * control_system;
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Locable<vector::ITechValue> speed_limit;
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Locable<vector::ITechValue> torque_limit;
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Locable<vector::ITechValue> acc_limit;
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struct {
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float speed_limit = 0.0f;
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float torque_limit = 0.0f;
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float acceleration_limit = 0.0f;
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} stored;
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float setpoint;
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float retention_accuracy; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
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static bool validate( Input & );
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void apply(Input &input);
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bool moving;
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Output result;
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systemic::Timer on_position_timer;
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systemic::time_t timeout;
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};
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}}
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#endif /* UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINT_HH_ */
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