35 #ifndef ETHERCAT_HARDWARE__WG_SOFT_PROCESSOR_H
36 #define ETHERCAT_HARDWARE__WG_SOFT_PROCESSOR_H
41 #include "ethercat_hardware/SoftProcessorFirmwareWrite.h"
42 #include "ethercat_hardware/SoftProcessorFirmwareRead.h"
43 #include "ethercat_hardware/SoftProcessorReset.h"
67 const std::string &actuator_name,
68 const std::string &processor_name,
69 unsigned iram_address,
unsigned ctrl_address ) :
79 void add(WGMailbox *mbx,
const std::string &actuator_name,
const std::string &processor_name,
80 unsigned iram_address,
unsigned ctrl_address);
88 bool writeFirmwareCB(ethercat_hardware::SoftProcessorFirmwareWrite::Request &request,
89 ethercat_hardware::SoftProcessorFirmwareWrite::Response &response);
90 bool readFirmwareCB(ethercat_hardware::SoftProcessorFirmwareRead::Request &request,
91 ethercat_hardware::SoftProcessorFirmwareRead::Response &response);
92 bool resetCB(ethercat_hardware::SoftProcessorReset::Request &request,
93 ethercat_hardware::SoftProcessorReset::Response &response);
106 const WGSoftProcessor::Info*
get(
const std::string &actuator_name,
const std::string &processor_name, std::ostream &err_out)
const;
114 #endif //ETHERCAT_HARDWARE__WG_SOFT_PROCESSOR_H