ecat_simulation.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2015 - 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_LIB_ECAT_SIMULATION_H
#define MOTORCORTEX_LIB_ECAT_SIMULATION_H
 
#include "ecat_base.h"
#include <list>
#include <vector>
 
namespace mcx::ecat {
 
class SdoBase;
 
class Simulation : public EthercatBase {
public:
  Simulation() = default;
 
  virtual ~Simulation();
 
  bool createMaster(unsigned int id) override;
 
  bool setSendInterval(unsigned long dt_micro_s) override;
 
  int addDomain(DomainBase* domain) override;
 
  bool startMaster() override;
 
  bool iterate(const container::TaskTime& system_time, container::UserTime* user_time) override;
 
  bool stopMaster() override;
 
  [[nodiscard]] const char* getDriverName() const override { return "Simulation"; }
 
private:
  struct DomainData {
    DomainBase* handle;
  };
 
  std::vector<uint8_t*> sdo_data_;
  std::vector<DomainData> domains_;
};
 
} // namespace mcx::ecat
 
#endif // MOTORCORTEX_LIB_ECAT_SIMULATION_H