clean up rebase

leducp · Dec 9, 2024 · 2cd9af3 · 2cd9af3
1 parent e298ff4
commit 2cd9af3
Show file tree

Hide file tree

Showing 11 changed files with 48 additions and 473 deletions.
diff --git a/lib/slave/include/kickcat/AbstractESC.h b/lib/slave/include/kickcat/AbstractESC.h
@@ -44,30 +44,10 @@ namespace kickcat
         virtual int32_t write(uint16_t address, void const* data, uint16_t size) = 0;
 
         std::tuple<uint8_t, SyncManager> find_sm(uint16_t controlMode);
-
-        void routine_init();
-        void routine_preop();
-        void routine_safeop();
-        void routine_op();
-
-        void set_state_on_error(State state, StatusCode error_code);
-        void clear_error();
-
-        uint16_t al_status() { return al_status_;};
-
-        bool has_expired_watchdog() { return not (watchdog_ & 0x1); }
-
         void sm_activate(SyncManagerConfig const& sm);
         void sm_deactivate(SyncManagerConfig const& sm);
-        void set_sm_activate(std::vector<SyncManagerConfig> const& sync_managers, bool is_activated);
-    private:
-        bool configure_pdo_sm();
-
-        void update_process_data_input();
-        void update_process_data_output();
 
         bool is_valid_sm(SyncManagerConfig const& sm_ref);
-        bool are_valid_sm(std::vector<SyncManagerConfig> const& sm);
         void set_sm_activate(std::vector<SyncManagerConfig> const& sync_managers, bool is_activated);
     };
 

diff --git a/lib/slave/include/kickcat/FSM.h b/lib/slave/include/kickcat/FSM.h
@@ -93,6 +93,7 @@ namespace kickcat
             void setOutputDataValid(bool isValid);
             void start();
             void play();
+            State getState();
 
         private:
             AbstractState* findState(uint8_t id);

diff --git a/lib/slave/include/kickcat/PDO.h b/lib/slave/include/kickcat/PDO.h
@@ -17,7 +17,6 @@ namespace kickcat
 
         hresult configure_pdo_sm();
         StatusCode is_sm_config_ok();
-        void set_sm_activated(bool is_activated);
         void set_sm_output_activated(bool is_activated);
         void set_sm_input_activated(bool is_activated);
         void set_process_data_input(uint8_t* buffer);

diff --git a/lib/slave/include/kickcat/Slave2.h b/lib/slave/include/kickcat/Slave2.h
@@ -19,6 +19,8 @@ namespace kickcat
         void set_mailbox(mailbox::response::Mailbox* mbx);
         void start();
         void routine();
+        State getState();
+        void setOutputDataValid(bool isValid);
 
     private:
         AbstractESC* esc_;
@@ -29,7 +31,7 @@ namespace kickcat
         FSM::PreOP preOp_{*esc_, *pdo_};
         FSM::SafeOP safeOP_{*esc_, *pdo_};
         FSM::OP OP_{*esc_, *pdo_};
-        FSM::StateMachine stateMachine{*esc_, {{&init_, &preOp_, &safeOP_, &OP_}}};
+        FSM::StateMachine stateMachine_{*esc_, {{&init_, &preOp_, &safeOP_, &OP_}}};
     };
 }