ecat_sdobase.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2015 - 2020 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_ECAT_SDOBASE_H
#define MOTORCORTEX_CORE_ECAT_SDOBASE_H
 
#include "ecat_state.h"
#include "ecat_xmltypes.h"
 
struct ec_slave_config;
typedef struct ec_slave_config ec_slave_config_t;
 
namespace mcx::ecat {
 
struct EcatSdoConfig;
 
class SdoBase {
public:
  virtual SdoState request(EcatDirection dir) = 0;
 
  virtual void* create(const EcatSdoConfig& sdo_config, ec_slave_config_t* slave_config) = 0;
 
  virtual ~SdoBase() = default;
 
  void* getDataPtr() { return data_ptr_; }
 
protected:
  uint8_t* data_ptr_{};
};
 
} // namespace mcx::ecat
 
#endif // MOTORCORTEX_CORE_ECAT_SDOBASE_H