^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package canopen_402 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.8.5 (2020-09-22) ------------------ 0.8.4 (2020-08-22) ------------------ * handle illegal states in nextStateForEnabling * tranistion -> transition * Contributors: Mathias Lüdtke, Mikael Arguedas 0.8.3 (2020-05-07) ------------------ * Bump CMake version to avoid CMP0048 warning Signed-off-by: ahcorde * Contributors: ahcorde 0.8.2 (2019-11-04) ------------------ * enable rosconsole_bridge bindings * switch to new logging macros * Contributors: Mathias Lüdtke 0.8.1 (2019-07-14) ------------------ * Set C++ standard to c++14 * Contributors: Harsh Deshpande 0.8.0 (2018-07-11) ------------------ * handle invalid supported drive modes object * made Mode402::registerMode a variadic template * use std::isnan * migrated to std::atomic * migrated to std::unordered_map and std::unordered_set * migrated to std pointers * fix initialization bug in ProfiledPositionMode * Contributors: Mathias Lüdtke 0.7.8 (2018-05-04) ------------------ * Revert "pull make_shared into namespaces" This reverts commit 9b2cd05df76d223647ca81917d289ca6330cdee6. * Contributors: Mathias Lüdtke 0.7.7 (2018-05-04) ------------------ * Added state_switch_timeout parameter to motor. * added types for all function objects * pull make_shared into namespaces * added types for all shared_ptrs * migrate to new classloader headers * address catkin_lint errors/warnings * Contributors: Alexander Gutenkunst, Mathias Lüdtke 0.7.6 (2017-08-30) ------------------ 0.7.5 (2017-05-29) ------------------ 0.7.4 (2017-04-25) ------------------ * use portable boost::math::isnan * Contributors: Mathias Lüdtke 0.7.3 (2017-04-25) ------------------ 0.7.2 (2017-03-28) ------------------ 0.7.1 (2017-03-20) ------------------ * do quickstop for halt only if operation is enabled * Contributors: Mathias Lüdtke 0.7.0 (2016-12-13) ------------------ 0.6.5 (2016-12-10) ------------------ * stop on internal limit only if limit was not reached before * hardened code with the help of cppcheck * Do not send control if it was not changed Otherwise invalid state machine transitions might get commanded * styled and sorted CMakeLists.txt * removed boilerplate comments * indention * reviewed exported dependencies * styled and sorted package.xml * update package URLs * added option to turn off mode monitor * reset Fault_Reset bit in output only * enforce rising edge on fault reset bit on init and recover * Revert "Enforce rising edge on fault reset bit on init and recover" * enforce rising edge on fault reset bit on init and recover * Merge pull request `#117 `_ from ipa-mdl/condvars Reviewed condition variables * use boost::numeric_cast for limit checks since it handles 64bit values right * add clamping test * enforce target type limits * ModeTargetHelper is now template * readability fix * simplified State402::waitForNewState and Motor402::switchState * Set Halt bit unless current mode releases it * Contributors: Mathias Lüdtke 0.6.4 (2015-07-03) ------------------ 0.6.3 (2015-06-30) ------------------ * improved PP mode * do not quickstop in fault states * do not diable selected mode on recover, just restart it * initialize to No_Mode * removed some empty lines * implemented support for mode switching in a certain 402 state, defaults to Operation_Enable * pass LayerStatus to switchMode * remove enableMotor, introduced switchState * added motor_layer settings * fixed PP mode * explicit find for class_loader * fail-safe setting of op_mode to No_Mode * Improved behaviour of concurrent commands * added alternative Transitions 7 and 10 via Quickstop * added alternative success condition to waitForNewState * make motor init/recover interruptable * changed maintainer * removed SM-based 402 implementation * added Motor402 plugin * added new 402 implementation * added MotorBase * Added validity checks * Removed overloaded functions and makes the handle functions protected * Removes test executable * Removes unnecessary configure_drive and clears the set Targets * Some position fixes * Removed timeout Reduced recover trials * Removes some logs * Homing integrated * handleRead, handleWrite fixes * Merge remote-tracking branch 'mdl/indigo_dev' into refactor_sm Conflicts: canopen_402/include/canopen_402/canopen_402.h canopen_402/src/canopen_402/canopen_402.cpp canopen_motor_node/src/control_node.cpp * Moved supported_drive_modes to ModeSpecificEntries * * Init, Recover, Halt for SCHUNK * Removed sleeps from the state machine * Now works as reentrant states * refactored Layer mechanisms * Recover failure * Merge remote-tracking branch 'mdl/indigo_dev' into refactor_sm Conflicts: canopen_402/include/canopen_402/canopen_402.h canopen_402/src/canopen_402/canopen_402.cpp * Removing some unnecessary couts * First version with Recover * Tested on SCHUNK LWA4D * Initializing all modules at once * Moving SCHUNK using the IP mode sub-state machine * Schunk does not set operation mode via synchronized RPDO * initialize homing_needed to false * Working with the guard handling and some scoped_locks to prevent unwanted access * Passing ``state_`` to motor machine * Fixes crash for unitialized boost pointer for ``target_vel_`` and ``target_pos_`` * Thread running * Separates the hw with the SM test Advance on the Mode Switching Machine * Organizing IPMode State Machine * Adds mode switch and a pre-version of the turnOn sequence * Event argument passed to the Motor state machine * Adds the internal actions * Control_word is set from motor state machine * Motor abstraction on higher level machine Some pointers organization * * Begins with the Higher Level Machine * Separates the status and control from the 402 node * Ip mode sub-machine * Organizing the status and control machine * do not read homing method if homing mode is not supported * inti ``enter_mode_failure_`` to false * require message strings for error indicators, added missing strings, added ROS logging in sync loop * Merge pull request `#75 `_ from mistoll/indigo_release_candidate Move ip_mode_sub_mode to configureModeSpecificEntries * Fixed tabs/spaces * bind IP sub mode only if IP is supported * Move ip_mode_sub_mode to configureModeSpecificEntries * Update state_machine.h * Ongoing changes for the state machine * * Eliminates Internal State conflict * Treats exceptions inside the state machine * Cleaning the 402.cpp file * Test file * Adds state machine definition * Adds state machine simple test * Some cleaning necessary to proceed * Header files for isolating the 402 state machine * Effort value * Merge pull request `#6 `_ from ipa-mdl/indigo_dev Work-around for https://github.com/ipa320/ros_canopen/issues/62 * Merge branch 'indigo_dev' of https://github.com/ipa-mdl/ros_canopen into indigo_dev * fixed unintialized members * Mode Error priority * Order issue * Merge branch 'indigo_dev' of https://github.com/ipa-mdl/ros_canopen into indigo_dev Conflicts: canopen_motor_node/CMakeLists.txt * Error status * Merge branch 'indigo_dev' into merge Conflicts: canopen_chain_node/include/canopen_chain_node/chain_ros.h canopen_master/include/canopen_master/canopen.h canopen_master/include/canopen_master/layer.h canopen_master/src/node.cpp canopen_motor_node/CMakeLists.txt canopen_motor_node/src/control_node.cpp * Contributors: Florian Weisshardt, Mathias Lüdtke, Michael Stoll, Thiago de Freitas Oliveira Araujo, thiagodefreitas 0.6.2 (2014-12-18) ------------------ 0.6.1 (2014-12-15) ------------------ * remove ipa_* and IPA_* prefixes * added descriptions and authors * renamed ipa_canopen_402 to canopen_402 * Contributors: Florian Weisshardt, Mathias Lüdtke