Program Listing for File word_accessor.hpp
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// Copyright 2023 Christoph Hellmann Santos
// Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
//
#ifndef WORD_ACCESSOR_HPP
#define WORD_ACCESSOR_HPP
#include <cstdint>
namespace ros2_canopen
{
template <uint16_t MASK>
class WordAccessor
{
uint16_t & word_;
public:
WordAccessor(uint16_t & word) : word_(word) {}
bool set(uint8_t bit)
{
uint16_t val = MASK & (1 << bit);
word_ |= val;
return val;
}
bool reset(uint8_t bit)
{
uint16_t val = MASK & (1 << bit);
word_ &= ~val;
return val;
}
bool get(uint8_t bit) const { return word_ & (1 << bit); }
uint16_t get() const { return word_ & MASK; }
WordAccessor & operator=(const uint16_t & val)
{
word_ = (word_ & ~MASK) | (val & MASK);
return *this;
}
};
} // namespace ros2_canopen
#endif // WORD_ACCESSOR_HPP