Motorcortex Core
version: 2.7.6
wd_base.h
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/*
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* Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
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* All rights reserved. Copyright (c) 2018 VECTIONEER.
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*/
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#ifndef MOTORCORTEX_CORE_WD_BASE_H
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#define MOTORCORTEX_CORE_WD_BASE_H
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namespace
mcx {
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namespace
watchdog {
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struct
WatchdogIn
{
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bool
do_no_estop;
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bool
acknowledge;
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unsigned
int
ack_nr_of_cycles;
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unsigned
int
pulse_nr_of_cycles;
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};
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struct
WatchdogOut
{
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bool
estop_active;
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bool
estop_not_active;
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bool
reset_estop;
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bool
pulse;
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bool
feedback_ch1;
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bool
feedback_ch2;
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};
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class
WatchdogBase
{
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public
:
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WatchdogBase
() =
default
;
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virtual
~
WatchdogBase
() =
default
;
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virtual
bool
open(
const
char
* device) = 0;
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virtual
void
update(
const
WatchdogIn
& in,
WatchdogOut
* out) = 0;
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};
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}
// namespace
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}
// namespace
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#endif //MOTORCORTEX_CORE_WD_BASE_H
mcx::watchdog::WatchdogBase
Definition:
wd_base.h:29
mcx::watchdog::WatchdogIn
Definition:
wd_base.h:13
mcx::watchdog::WatchdogOut
Definition:
wd_base.h:20
watchdog
wd_base.h
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