motors_weg_cvw300.orogen

# frozen_string_literal: true

name "motors_weg_cvw300"

import_types_from "std"
import_types_from "base"

using_library "motors_weg_cvw300"
import_types_from "motors_weg_cvw300/Configuration.hpp"
import_types_from "motors_weg_cvw300/InverterTemperatures.hpp"
import_types_from "motors_weg_cvw300/FaultState.hpp"

import_types_from "motors_weg_cvw300Types.hpp"

using_task_library "iodrivers_base"
using_library "control_base"
import_types_from "control_base"

task_context "Task", subclasses: "iodrivers_base::Task" do
    needs_configuration

    # The device address on the RS485 bus
    property "address", "int", 1

    # Whether to invert command and feedback w.r.t. the controller's direction
    property "inverted", "/bool", false

    # Update period for the temperature output
    property "temperature_period", "/base/Time"

    # Configure the internal watchdog
    #
    # This has two functions. The first one is to configure the
    # controller to enter an alarm state if it does not receive
    # data from the serial port (and how it should react when this happens).
    #
    # The second function is to make the component actively send a zero
    # velocity command if no command is received within the watchdog timeout
    #
    # Set the watchdog timer to zero to disable
    property "watchdog", "/motors_weg_cvw300/configuration/SerialWatchdog"

    # Acceleration and deceleration ramps
    property "ramps", "/motors_weg_cvw300/configuration/Ramps"

    # How the motor is being controlled
    property "control_type",
             "/motors_weg_cvw300/configuration/ControlType", :CONTROL_ENCODER

    # Modbus interframe delay
    #
    # The default value (20ms) is way bigger than the modbus-mandated standard
    # (~ 1ms at 57600 bauds). It is however known to work for non-realtime,
    # USB-wiedling setups. Tune this to lower values if you have a better
    # setup (and know what you are doing)
    property "modbus_interframe_delay", "/base/Time"

    # Control limits
    #
    # You may only set the speed and effort fields. Setting any other field
    # will fail on configure
    #
    # If set, min and max speeds need to be the opposite of each other. The
    # controller does not support limiting them separately
    property "limits", "/base/JointLimits"

    # Registers configuration
    #
    # The list of registers with their respective values to perform the initial
    # configuration of the engines.
    property "registers_configuration",
             "/std/vector</motors_weg_cvw300/configuration/MotorRegister>"

    # Input command
    #
    # Only set the speed field
    input_port "cmd_in", "/base/commands/Joints"

    output_port "joint_samples", "/base/samples/Joints"

    output_port "temperatures", "/motors_weg_cvw300/InverterTemperatures"

    output_port "inverter_state", "/motors_weg_cvw300/InverterState"

    output_port "alarm_state", "/motors_weg_cvw300/AlarmState"
    output_port "fault_state", "/motors_weg_cvw300/FaultState"

    output_port "saturation_signal", "/control_base/SaturationSignal"

    exception_states "INVALID_COMMAND_SIZE", "INVALID_COMMAND_PARAMETER"
    error_states "CONTROLLER_FAULT", "CONTROLLER_UNDER_VOLTAGE"

    # There's no data coming from the controller without the driver requesting
    # it first ... Must be periodic.
    periodic 0.1
end