ActTypes.hpp

#ifndef ACT_SCHILLING_ACTTYPES_HPP
#define ACT_SCHILLING_ACTTYPES_HPP

#include <base/Time.hpp>

namespace act_schilling {
   
    enum ControlMode{
        MODE_NONE = 0,
        MODE_POS,
        MODE_VEL
    };
    
    struct ActData {
        base::Time  time; 
        act_schilling::ControlMode ctrl_mode; 
        double shaft_ang;  
        double shaft_vel;         
        ActData()
          : time(base::Time::now()),ctrl_mode(MODE_NONE),shaft_ang(0),shaft_vel(0)
        {}
    };
    
    struct ActDeviceStatus {
        base::Time  time; 
        uint8_t ctrl_status; 
        uint8_t drive_status; 
        uint8_t encoder_status; 
        int shaft_pos;  
        ActDeviceStatus() :
          time(base::Time::now()),ctrl_status(0),drive_status(0),encoder_status(0)
        {}
    };
    
    struct ActState {
      bool initialized;
      bool calibrated;
      ActState()
        : initialized(false),calibrated(false)
      {}
    }; 
    
    struct ActPosition{ 
      base::Time time;
      uint8_t ext_encoder_status;
      int ext_abs_pos;
      int shaft_pos;
      uint8_t shaft_enc_status;
      int shaft_abs_pos;
      ActPosition()
        : time(base::Time::now()),ext_encoder_status(0),ext_abs_pos(0),shaft_pos(0),shaft_enc_status(0),shaft_abs_pos(0)
      {}
    };
    
    struct ActDriveStatus{
      base::Time time;
      uint8_t drive_status;
      uint16_t drive_protect_status;
      uint16_t system_protect_status;
      uint16_t drive_system_status1;
      int drive_system_status2;
      ActDriveStatus()
        : time(base::Time::now()),drive_status(0),drive_protect_status(0),system_protect_status(0),drive_system_status1(0),drive_system_status2(0)
      {}
    };
    
    struct ActInfo{
      base::Time time;
      int serial_no;
      int firmware_rev;
      ActInfo()
        : time(base::Time::now()),serial_no(0),firmware_rev(0)
      {}
    };
    
    struct ActBoundaries{
      double min;
      double max;
      ActBoundaries()
        : min(0),max(0)
      {}
    };
    
    
}


#endif