sr_ronex_drivers: sr_board

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00001 /*
00002  * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
00003  * 
00004  * This library is free software; you can redistribute it and/or
00005  * modify it under the terms of the GNU Lesser General Public
00006  * License as published by the Free Software Foundation; either
00007  * version 3.0 of the License, or (at your option) any later version.
00008  * 
00009  * This library is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
00012  * Lesser General Public License for more details.
00013  * 
00014  * You should have received a copy of the GNU Lesser General Public
00015  * License along with this library.
00016  */
00017 
00028 #ifndef SR_BOARD_0X_H
00029 #define SR_BOARD_0X_H
00030 
00031 #include <sr_ronex_drivers/standard_ethercat_device.h>
00032 
00033 #include <vector>
00034 using namespace std;
00035 
00036 
00037 class SrBoard0X : public StandardEthercatDevice
00038 {
00039 public:
00040   virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address);
00041 
00042 protected:
00043 
00044   void packCommand(unsigned char *buffer, bool halt, bool reset);
00045   bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);
00046 };
00047 
00048 #endif /* SR_BOARD_0X_H */
00049