RPDO.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef RPDO_H
#define RPDO_H

#include "PDO.h"

namespace icl_hardware {
namespace canopen_schunk {

class RPDO : public PDO
{
public:
  typedef boost::shared_ptr<RPDO> Ptr;
  typedef std::vector<boost::shared_ptr<RPDO> > PtrList;

  static const uint16_t OD_RPDO_COMMUNICATION_MIN = 0x1400;
  static const uint16_t OD_RPDO_MAPPING_PARAMETER_MIN = 0x1600;

  RPDO(const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr& can_device);

  bool download();


  PDOStringMatchVec remap (SDO& sdo,
                           const MappingConfigurationList& mappings,
                           const eTransmissionType& transmission_type,
                           const bool dummy_mapping = false,
                           const uint8_t cyclic_timeout_cycles = 0
                          );

  PDOStringMatchVec appendMapping(SDO& sdo,
                                  const MappingConfigurationList& mappings,
                                  const eTransmissionType& transmission_type,
                                  const bool dummy_mapping = false,
                                  const uint8_t cyclic_timeout_cycles = 0
                                 );
};

}} // end of NS

#endif // RPDO_H