57 lines
2.2 KiB
C#
57 lines
2.2 KiB
C#
using RobotNet10.CANOpen.CiA402.Enums;
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namespace RobotNet10.CANOpen.CiA402.Models;
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public readonly struct Statusword(ushort value)
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{
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public ushort Value { get; init; } = value;
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public bool ReadyToSwitchOn => (Value & 0x0001) != 0;
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public bool SwitchedOn => (Value & 0x0002) != 0;
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public bool OperationEnabled => (Value & 0x0004) != 0;
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public bool Fault => (Value & 0x0008) != 0;
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public bool VoltageEnabled => (Value & 0x0010) != 0;
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public bool QuickStop => (Value & 0x0020) != 0;
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public bool SwitchOnDisabled => (Value & 0x0040) != 0;
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public bool Warning => (Value & 0x0080) != 0;
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public bool TargetReached => (Value & 0x0400) != 0;
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/// <summary>
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/// CiA402 Statusword bit 12: Homing attained (homing completed successfully)
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/// </summary>
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public bool HomingAttained => (Value & 0x1000) != 0;
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/// <summary>
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/// CiA402 Statusword bit 13: Homing error (homing failed)
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/// </summary>
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public bool HomingError => (Value & 0x2000) != 0;
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public DriveState GetState()
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{
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if (!ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && !Fault && SwitchOnDisabled)
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return DriveState.SwitchOnDisabled;
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if (!ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && !Fault && !SwitchOnDisabled)
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return DriveState.NotReadyToSwitchOn;
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if (ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && !Fault)
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return DriveState.ReadyToSwitchOn;
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if (ReadyToSwitchOn && SwitchedOn && !OperationEnabled && !Fault)
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return DriveState.SwitchedOn;
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if (ReadyToSwitchOn && SwitchedOn && OperationEnabled && !Fault)
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return DriveState.OperationEnabled;
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if (!ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && Fault)
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return DriveState.Fault;
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return DriveState.Unknown;
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}
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public override string ToString() => $"0x{Value:X4} ({GetState()})";
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public static implicit operator ushort(Statusword sw) => sw.Value;
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public static implicit operator Statusword(ushort value) => new(value);
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}
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