Custom Profile Demo

Custom Profile Demo — extending a built-in drive profile

Source: custom_profile_demo/main.cpp

Shows how to subclass the built-in CiA402DriveProfile to add vendor-specific behaviour while keeping the standard Axis motion interface intact.

---

1. Define the custom profile class

class A6ExtendedProfile : public ecdev::CiA402DriveProfile {
public:
  using CiA402DriveProfile::CiA402DriveProfile;

  const char* profileName() const override { return "a6-custom"; }

  static std::unique_ptr<ecdev::IDeviceProfile> make(const ecdev::ProfileSelectionInput& in) {
    ecdev::CiA402DriveProfile::Config cfg;
    cfg.op_mode = in.op_mode;
    cfg.auto_fault_reset_and_recover = in.auto_fault_reset_and_recover;
    cfg.startup_fault_autoreset = in.startup_fault_autoreset;
    return std::make_unique<A6ExtendedProfile>(cfg);
  }
};

Inheriting CiA402DriveProfile means all standard CiA402 motion behaviour (state machine, fault recovery, PDO handling) is inherited for free. Only profileName() is overridden here — it returns a unique string used to identify this profile at runtime. The static make() factory is the hook that the profile registry calls to instantiate the class.

To expose extra vendor PDOs, override readInputs() and call the base class first, then read your additional objects from the process image.

---

2. Register the profile & prepare

cfg.extra_profile_factories.push_back(
    ecdev::makeIdentityProfileFactory(
        ecdev::DeviceIdentityMatch{kA6VendorId, kA6ProductCode},
        demo::A6ExtendedProfile::make, "cia402:a6-custom"));

lxmaster::EcNetwork net(cfg);
net.prepare();

makeIdentityProfileFactory ties the custom class to a specific vendor ID and product code. When prepare() scans the ENI, any slave matching those IDs gets A6ExtendedProfile instead of the default CiA402DriveProfile. No static registration or linker tricks are needed.

---

3. Configure axis

lxmaster::Axis* drive = net.axes().front();
drive->setDriveMode(lxmaster::DriveOpMode::Csp);
drive->configure();

The axis is accessed through the standard Axis facade — nothing about the motion API changes because of the custom profile. configure() walks the drive to OPERATIONAL.

---

4. Start & access the custom profile

net.start();

ecdev::IDeviceProfile* prof = drive->deviceProfile();
if (prof && std::strcmp(prof->profileName(), "a6-custom") == 0) {
    auto* mine = static_cast<demo::A6ExtendedProfile*>(prof);
    std::cout << "Custom profile active: " << mine->profileName() << "\n";
}

drive->deviceProfile() returns the underlying profile object. The concrete type is recovered by checking the unique profile name and casting once — no RTTI or dynamic_cast needed. Any extra state or methods added to A6ExtendedProfile are accessible through mine.

---

5. Stop

net.stop();

net.stop() gracefully shuts down the cyclic thread and transitions all slaves back to INIT.

Source: main.cpp

#include <chrono>
#include <cstdint>
#include <cstring>
#include <iostream>
#include <memory>
#include <thread>
#include <vector>

#include <lxmaster/lxmaster.hpp>

// Direct device-layer headers for binding a custom profile.
#include "devices/cia402_drive_profile.hpp"
#include "devices/identity_profile.hpp"
#include "devices/profile_registry.hpp"

/**
 * Custom profile that extends the built-in CiA402 drive profile.
 * Inherits all standard motion behaviour; only the profile name is overridden here.
 * To expose extra vendor PDOs, override readInputs() and chain to the base class.
 */
namespace demo {

class A6ExtendedProfile : public ecdev::CiA402DriveProfile {
public:
  using CiA402DriveProfile::CiA402DriveProfile;

  const char* profileName() const override { return "a6-custom"; }

  static std::unique_ptr<ecdev::IDeviceProfile> make(const ecdev::ProfileSelectionInput& in) {
    ecdev::CiA402DriveProfile::Config cfg;
    cfg.op_mode = in.op_mode;
    cfg.auto_fault_reset_and_recover = in.auto_fault_reset_and_recover;
    cfg.startup_fault_autoreset = in.startup_fault_autoreset;
    return std::make_unique<A6ExtendedProfile>(cfg);
  }
};

}  // namespace demo

constexpr std::uint32_t kA6VendorId    = 0x00400000;
constexpr std::uint32_t kA6ProductCode = 0x00000715;
constexpr const char*   kEniPath       = "/home/user/myenifolder/myenifile.xml";

int main() {
  // --- 1. Config & register custom profile ---
  lxmaster::NetworkConfig cfg = lxmaster::NetworkConfig::defaults();
  cfg.eni.eni_path = kEniPath;
  cfg.extra_profile_factories.push_back(
      ecdev::makeIdentityProfileFactory(
          ecdev::DeviceIdentityMatch{kA6VendorId, kA6ProductCode},
          demo::A6ExtendedProfile::make, "cia402:a6-custom"));

  lxmaster::EcNetwork net(cfg);
  if (!net.prepare()) { std::cerr << "prepare failed: " << net.lastError() << "\n"; return 1; }

  std::vector<lxmaster::Axis*> axes = net.axes();
  if (axes.empty()) { std::cerr << "No motion axes in ENI.\n"; return 1; }

  // --- 2. Configure axis ---
  lxmaster::Axis* drive = axes.front();
  drive->setDriveMode(lxmaster::DriveOpMode::Csp);
  drive->configure();

  // --- 3. Start & access custom profile ---
  if (!net.start()) { std::cerr << "start failed: " << net.lastError() << "\n"; return 1; }
  std::this_thread::sleep_for(std::chrono::milliseconds(50));

  // Recover the concrete type by checking the unique profile name, then static_cast once.
  ecdev::IDeviceProfile* prof = drive->deviceProfile();
  if (prof && std::strcmp(prof->profileName(), "a6-custom") == 0) {
    auto* mine = static_cast<demo::A6ExtendedProfile*>(prof);
    std::cout << "Custom profile active: " << mine->profileName() << "\n";
  }

  std::cout << "Actual position: " << drive->actualPosition() << " counts\n";

  // --- 4. Stop ---
  net.stop();
  return 0;
}