Merge branch 'master' into davkim-add-el6001

Author: davidinkyu-kim

src/CMakeLists.txt

@@ -57,6 +57,7 @@ add_custom_target(fcgen
     ${CMAKE_BINARY_DIR}/fastcat/autogen/fastcat_devices/commander.cc
     )
 
+# Build a library regardless of BUILD_TESTS flag
 add_library(fastcat STATIC
     trap.c
     device_base.cc
@@ -69,6 +70,8 @@ add_library(fastcat STATIC
 
     jsd/actuator.cc
     jsd/actuator_fsm_helpers.cc
+    jsd/egd_actuator.cc
+    jsd/epd_actuator.cc
     jsd/egd.cc
     jsd/el3208.cc
     jsd/el3602.cc
@@ -84,7 +87,7 @@ add_library(fastcat STATIC
     jsd/jed0200.cc
     jsd/ati_fts.cc
 
-    jsd/actuator_offline.cc
+    jsd/egd_actuator_offline.cc
     jsd/egd_offline.cc
     jsd/el2124_offline.cc
     jsd/el4102_offline.cc
@@ -94,6 +97,7 @@ add_library(fastcat STATIC
     jsd/el3104_offline.cc
     jsd/el3202_offline.cc
     jsd/el3318_offline.cc
+    jsd/epd_actuator_offline.cc
     jsd/ild1900_offline.cc
     jsd/jed0101_offline.cc
     jsd/jed0200_offline.cc

src/device_base.cc

@@ -6,6 +6,8 @@
 // Include external then project includes
 #include "jsd/jsd_print.h"
 
+fastcat::DeviceBase::~DeviceBase() {}
+
 void fastcat::DeviceBase::RegisterCmdQueue(
     std::shared_ptr<std::queue<DeviceCmd>> cmd_queue)
 {

src/device_base.h

@@ -18,6 +18,7 @@ namespace fastcat
 class DeviceBase
 {
  public:
+  virtual ~DeviceBase();
   // Pure virtual methods
   virtual bool ConfigFromYaml(YAML::Node node) = 0;
   virtual bool Read()                          = 0;

src/fcgen/fastcat_types.yaml

@@ -76,7 +76,7 @@ states:
     - name: tared_tz
       type: double
 
-  - name: actuator
+  - name: egd_actuator
     fields:
     - name: actual_position
       type: double
@@ -94,10 +94,10 @@ states:
       type: double
     - name: cmd_max_current
       type: double
-    - name: egd_state_machine_state
+    - name: elmo_state_machine_state
       type: uint32_t
-      comment: "From jsd_egd_state_machine_state_t"
-    - name: egd_mode_of_operation
+      comment: "From jsd_elmo_state_machine_state_t"
+    - name: elmo_mode_of_operation
       type: uint32_t
       comment: "From jsd_egd_mode_of_operation_t"
     - name: sto_engaged
@@ -121,13 +121,77 @@ states:
       type: double
     - name: drive_temperature
       type: uint32_t
-    - name: egd_actual_position
+    - name: elmo_actual_position
+      type: int32_t
+    - name: elmo_cmd_position
+      type: int32_t
+    - name: actuator_state_machine_state
+      type: uint32_t
+    - name: power
+      type: double
+
+  - name: epd_actuator
+    fields:
+    - name: actual_position
+      type: double
+    - name: actual_velocity
+      type: double
+    - name: actual_current
+      type: double
+    - name: faulted
+      type: bool
+    - name: cmd_position
+      type: double
+    - name: cmd_velocity
+      type: double
+    - name: cmd_current
+      type: double
+    - name: cmd_prof_velocity
+      type: double
+      comment: "Commanded velocity in Position Profiled mode."
+    - name: cmd_prof_end_velocity
+      type: double
+      comment: "Commanded end velocity in Position Profiled mode."
+    - name: cmd_prof_accel
+      type: double
+      comment: "Commanded acceleration/deceleration in Position and Velocity Profiled modes."
+    - name: cmd_max_current
+      type: double
+    - name: elmo_state_machine_state
+      type: uint32_t
+      comment: "From jsd_elmo_state_machine_state_t"
+    - name: elmo_mode_of_operation
+      type: uint32_t
+      comment: "From jsd_epd_mode_of_operation_t"
+    - name: sto_engaged
+      type: uint8_t
+    - name: hall_state
+      type: uint8_t
+    - name: target_reached
+      type: uint8_t
+    - name: setpoint_ack_rise
+      type: bool
+    - name: motor_on
+      type: uint8_t
+    - name: servo_enabled
+      type: uint8_t
+    - name: jsd_fault_code
+      type: uint32_t
+      comment: "From jsd_epd_fault_code_t"
+    - name: fastcat_fault_code
+      type: uint32_t
+    - name: emcy_error_code
+      type: uint16_t
+    - name: bus_voltage
+      type: double
+    - name: drive_temperature
+      type: double
+    - name: elmo_actual_position
       type: int32_t
-    - name: egd_cmd_position
+    - name: elmo_cmd_position
       type: int32_t
     - name: actuator_state_machine_state
       type: uint32_t
-      comment: "From jsd_egd_State_machine_state_t"
     - name: power
       type: double