drive_cia402sim.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_LIB_DRIVE_CIA402SIM_H
#define MOTORCORTEX_LIB_DRIVE_CIA402SIM_H
 
#include "drive_base.h"
#include "drive_cia402.h"
 
namespace mcx {
 
namespace parameter_server {
class Parameter;
}
 
namespace drive {
 
class DriveCiA402Sim : public DriveBase {
public:
 
  DriveCiA402Sim();
 
  explicit DriveCiA402Sim(const std::string& name);
 
  void setName(const std::string& name) override {
    cia402_.setName(name);
  }
 
  bool update(double dt_sec, const DriveIn& drive_in, DriveOut* drive_out) override;
 
private:
  DriveCiA402 cia402_;
  unsigned int cia402_status_{};
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif //MOTORCORTEX_LIB_DRIVE_CIA402SIM_H