actuatorHwErrors.hpp

Go to the documentation of this file.

#ifndef FCF_DEVMGR_DEVICE_ACTUATOR_HW_ERRORS_HPP
#define FCF_DEVMGR_DEVICE_ACTUATOR_HW_ERRORS_HPP

#include <unordered_map>

namespace fcf {
namespace devmgr {
  namespace actuator {

    enum {
      HW_SUCCESS               = 0,
      HW_ERR_HW_NOT_OP         = -1,
      HW_ERR_WRONG_CMD         = -2,
      HW_ERR_INCONSISTENT      = -3,
      HW_ERR_INIT_FAILURE      = -4,
      HW_ERR_ENABLE_FAILURE    = -5,
      HW_ERR_DISABLE_FAILURE   = -6
    };

    const std::unordered_map<short, std::string> hw_errors = {
      {HW_ERR_HW_NOT_OP,       "TwinCAT not in OP state or CouplerState not mapped"},
      {HW_ERR_WRONG_CMD,       "actuator unknown command"},
      {HW_ERR_INCONSISTENT,    "actuator inconsistent hardware signals"},
      {HW_ERR_INIT_FAILURE,    "actuator init failure"},
      {HW_ERR_ENABLE_FAILURE,  "actuator enable failure"},
      {HW_ERR_DISABLE_FAILURE, "actuator disable failure"},
    };

  }
}
}

#endif // FCF_DEVMGR_DEVICE_ACTUATOR_HW_ERRORS_HPP