ecat_coe.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2015 - 2020 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_ECAT_COE_H
#define MOTORCORTEX_CORE_ECAT_COE_H
 
#include "ecat_sdobase.h"
#include "ecat_xmltypes.h"
#include <ecrt.h>
 
namespace mcx::ecat {
 
class Coe : public SdoBase {
public:
 
  SdoState request(EcatDirection dir) override;
 
  void* create(const EcatSdoConfig& sdo_config, ec_slave_config_t* slave_config) override;
 
private:
  EcatSdoConfig sdo_{};
  ec_request_state_t state_{ec_request_state_t::EC_REQUEST_UNUSED};
  ec_sdo_request_t* request_{};
  size_t size_{};
};
 
} // namespace mcx::ecat
 
#endif //MOTORCORTEX_CORE_ECAT_COE_H