motors_roboteq_canopen.orogen

# frozen_string_literal: true

name "motors_roboteq_canopen"

import_types_from "std"
import_types_from "base"
import_types_from "canbus"
import_types_from "canopen_master"
import_types_from "raw_io"

using_task_library "canopen_master"

using_library "motors_roboteq_canopen"
import_types_from "motors_roboteq_canopenTypes.hpp"

# Controller driver that uses Roboteq's own CANOpen dictionary
task_context "Task", subclasses: "canopen_master::SlaveTask" do
    needs_configuration

    # Channel configurations, starting at channel 0
    #
    # Channels with operation_mode set to OPERATION_MODE_NONE are ignored
    property "channel_configurations",
             "/std/vector</motors_roboteq_canopen/ChannelConfiguration>"

    # Configuration parameters regarding receiving joint states
    property "joint_state_settings",
             "/canopen_master/PDOCommunicationParameters"

    # Configuration of the analog inputs to be read
    property "analog_input_configuration",
             "/std/vector</motors_roboteq_canopen/AnalogInputConfiguration>"

    # Configuration parameters regarding receiving analog readings
    property "analog_input_settings",
             "/canopen_master/PDOCommunicationParameters"

    # The desired commands
    input_port "joint_cmd", "/base/commands/Joints"

    # The joint state
    output_port "joint_samples", "/base/samples/Joints"

    # The analog inputs
    output_port "analog_inputs", "/std/vector</raw_io/Analog>"

    port_driven :can_in, :joint_cmd
end

# Controller driver that uses the DS402 profile
#
# As of firmware 2.0, this **does not work**
task_context "DS402Task", subclasses: "canopen_master::SlaveTask" do
    needs_configuration

    # Channel configurations, starting at channel 0
    #
    # Channels with operation_mode set to OPERATION_MODE_NONE are ignored
    property "channel_configurations",
             "/std/vector</motors_roboteq_canopen/DS402ChannelConfiguration>"

    # Configuration parameters regarding receiving joint states
    property "joint_state_settings",
             "/canopen_master/PDOCommunicationParameters"

    # How long the component will wait for a state change before it times out
    #
    # The default is 1s
    property "state_change_timeout",
             "/base/Time"

    # The desired commands
    input_port "joint_cmd", "/base/commands/Joints"

    # The joint state
    output_port "joint_samples", "/base/samples/Joints"

    port_driven :can_in, :joint_cmd
end