sync.h
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00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 
00003 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00004 // This file is part of the SCHUNK Canopen Driver suite.
00005 //
00006 // This program is free software licensed under the LGPL
00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00008 // You can find a copy of this license in LICENSE folder in the top
00009 // directory of the source code.
00010 //
00011 // © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
00012 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00013 // -- END LICENSE BLOCK ------------------------------------------------
00014 
00015 //----------------------------------------------------------------------
00023 //----------------------------------------------------------------------
00024 
00025 #ifndef SYNC_H
00026 #define SYNC_H
00027 
00028 #include <icl_hardware_can/tCanDevice.h>
00029 #include "helper.h"
00030 #include "ds301.h"
00031 
00032 namespace icl_hardware {
00033 namespace canopen_schunk {
00034 
00035 // TODO(optional) include a sync counter that is transmitted, however.. i can not see the point in it DS301 clause 7.5.2.22: "The SYNC consumer shall ignore the value itself"
00036 
00041 static inline void sendSync(const CanDevPtr &can_device)
00042 {
00043   can_device->Send(CanMsg(ds301::ID_SYNC,0,0,reinterpret_cast<unsigned char*>(NULL)));
00044 }
00045 
00046 }} // end of NS
00047 #endif // SYNC_H


schunk_canopen_driver
Author(s): Felix Mauch , Georg Heppner
autogenerated on Sun May 22 2016 03:30:56