robotiq_2f_gripper_ethercat_client.h

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#ifndef ROBOTIQ_2F_GRIPPER_ETHERCAT_CLIENT_H
#define ROBOTIQ_2F_GRIPPER_ETHERCAT_CLIENT_H

#include <robotiq_2f_gripper_control/Robotiq2FGripper_robot_output.h>
#include <robotiq_2f_gripper_control/Robotiq2FGripper_robot_input.h>

// Forward declaration of EtherCatManager
namespace robotiq_ethercat 
{
  class EtherCatManager;
}

namespace robotiq_2f_gripper_control
{

class Robotiq2FGripperEtherCatClient
{
public:
  typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_output GripperOutput;
  typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_input GripperInput;

  Robotiq2FGripperEtherCatClient(robotiq_ethercat::EtherCatManager& manager, int slave_no);

  void writeOutputs(const GripperOutput& output);
  
  GripperInput readInputs() const;
  
  GripperOutput readOutputs() const;

private:
  robotiq_ethercat::EtherCatManager& manager_;
  const int slave_no_;
};

}

#endif