drive_cia402.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
 
#ifndef MOTORCORTEX_LIB_DRIVE_CIA402_H
#define MOTORCORTEX_LIB_DRIVE_CIA402_H
 
#include "drive_base.h"
#include "drive_cia402_fsm_base.h"
#include "drive_cia402_fsm_data.h"
#include "drive_cia402_fsm_transition.h"
 
namespace mcx {
 
namespace drive {
 
class DriveCiA402 : public DriveBase {
  using Cia402StateMachine = mcx::state_machine::StateMachine<Cia402FsmBase>;
public:
 
  DriveCiA402();
 
  explicit DriveCiA402(const std::string& name);
 
  void setName(const std::string& name) override {
    sm_.setName(name.c_str());
  }
 
  bool update(double dt_sec, const DriveIn& drive_in, DriveOut* drive_out) override;
 
private:
  Cia402StateMachine sm_;
  Cia402FsmData sm_data_;
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif // MOTORCORTEX_LIB_DRIVE_CIA402_H