00001 00024 #ifndef SRBRIDGE_H 00025 #define SRBRIDGE_H 00026 00027 #include <sr_edc_ethercat_drivers/sr0x.h> 00028 00029 class SRBridge : public SR0X 00030 { 00031 public: 00032 int initialize(pr2_hardware_interface::HardwareInterface *hw, bool allow_unprogrammed); 00033 void construct(EtherCAT_SlaveHandler *sh, int &start_address); 00034 void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer); 00035 00036 enum 00037 { 00038 PRODUCT_CODE = 0 00039 }; 00040 }; 00041 00042 #endif /* SRBRIDGE_H */ 00043