QUYVN/I150
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Initial commit

Browse Source
This commit is contained in:
QUYVN
2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen.CiA402/Models/Controlword.cs Normal file
View File

@@ -0,0 +1,31 @@
namespace RobotNet10.CANOpen.CiA402.Models;
public readonly struct Controlword
{
public ushort Value { get; init; }
public Controlword(ushort value)
{
Value = value;
}
public bool SwitchOn => (Value & 0x0001) != 0;
public bool EnableVoltage => (Value & 0x0002) != 0;
public bool QuickStop => (Value & 0x0004) != 0;
public bool EnableOperation => (Value & 0x0008) != 0;
public bool FaultReset => (Value & 0x0080) != 0;
public bool Halt => (Value & 0x0100) != 0;
public static Controlword Shutdown => new(0x0006);
public static Controlword SwitchOnCmd => new(0x0007);
public static Controlword DisableVoltage => new(0x0000);
public static Controlword QuickStopCmd => new(0x0002);
public static Controlword DisableOperation => new(0x0007);
public static Controlword EnableOperationCmd => new(0x000F);
public static Controlword FaultResetCmd => new(0x0080);
public override string ToString() => $"0x{Value:X4}";
public static implicit operator ushort(Controlword cw) => cw.Value;
public static implicit operator Controlword(ushort value) => new(value);
}

56
srcs/RobotNet10/RobotApp/Communication/RobotNet10.CANOpen.CiA402/Models/Statusword.cs Normal file
View File

@@ -0,0 +1,56 @@
using RobotNet10.CANOpen.CiA402.Enums;
namespace RobotNet10.CANOpen.CiA402.Models;
public readonly struct Statusword(ushort value)
{
public ushort Value { get; init; } = value;
public bool ReadyToSwitchOn => (Value & 0x0001) != 0;
public bool SwitchedOn => (Value & 0x0002) != 0;
public bool OperationEnabled => (Value & 0x0004) != 0;
public bool Fault => (Value & 0x0008) != 0;
public bool VoltageEnabled => (Value & 0x0010) != 0;
public bool QuickStop => (Value & 0x0020) != 0;
public bool SwitchOnDisabled => (Value & 0x0040) != 0;
public bool Warning => (Value & 0x0080) != 0;
public bool TargetReached => (Value & 0x0400) != 0;
/// <summary>
/// CiA402 Statusword bit 12: Homing attained (homing completed successfully)
/// </summary>
public bool HomingAttained => (Value & 0x1000) != 0;
/// <summary>
/// CiA402 Statusword bit 13: Homing error (homing failed)
/// </summary>
public bool HomingError => (Value & 0x2000) != 0;
public DriveState GetState()
{
if (!ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && !Fault && SwitchOnDisabled)
return DriveState.SwitchOnDisabled;
if (!ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && !Fault && !SwitchOnDisabled)
return DriveState.NotReadyToSwitchOn;
if (ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && !Fault)
return DriveState.ReadyToSwitchOn;
if (ReadyToSwitchOn && SwitchedOn && !OperationEnabled && !Fault)
return DriveState.SwitchedOn;
if (ReadyToSwitchOn && SwitchedOn && OperationEnabled && !Fault)
return DriveState.OperationEnabled;
if (!ReadyToSwitchOn && !SwitchedOn && !OperationEnabled && Fault)
return DriveState.Fault;
return DriveState.Unknown;
}
public override string ToString() => $"0x{Value:X4} ({GetState()})";
public static implicit operator ushort(Statusword sw) => sw.Value;
public static implicit operator Statusword(ushort value) => new(value);
}