00001 00024 #ifndef SR_EDC_ETHERCAT_DRIVERS_SRBRIDGE_H 00025 #define SR_EDC_ETHERCAT_DRIVERS_SRBRIDGE_H 00026 00027 #include <sr_edc_ethercat_drivers/sr0x.h> 00028 00029 class SRBridge : 00030 public SR0X 00031 { 00032 public: 00033 virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed); 00034 00035 virtual void construct(EtherCAT_SlaveHandler *sh, int &start_address); 00036 00037 virtual void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer); 00038 00039 enum 00040 { 00041 PRODUCT_CODE = 0 00042 }; 00043 }; 00044 00045 #endif // SR_EDC_ETHERCAT_DRIVERS_SRBRIDGE_H 00046