io_control.h

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#ifndef FSROBO_R_DRIVER_IO_CONTROL_H
#define FSROBO_R_DRIVER_IO_CONTROL_H

#include "simple_message/smpl_msg_connection.h"
#include "fsrobo_r_driver/simple_message/set_io.h"
#include "fsrobo_r_driver/simple_message/set_io_reply.h"
#include <vector>

namespace fsrobo_r_driver
{
namespace io_control
{
using industrial::smpl_msg_connection::SmplMsgConnection;
using fsrobo_r_driver::simple_message::io_control_reply::SetIOReply;

class IOControl
{
public:
  IOControl() {}

  bool init(SmplMsgConnection* connection);

public:
  bool setIO(industrial::shared_types::shared_int fun,
    industrial::shared_types::shared_int,
    std::vector<industrial::shared_types::shared_int> &data);

protected:
  SmplMsgConnection* connection_;

  bool sendAndReceive(industrial::shared_types::shared_int address,
    industrial::shared_types::shared_int value,
    std::vector<industrial::shared_types::shared_int> &data,
    SetIOReply &reply);
};

} 
} 

#endif // FSROBO_R_DRIVER_IO_CONTROL_H