jsd_device_base.h

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#ifndef FASTCAT_JSD_DEVICE_BASE_H_
#define FASTCAT_JSD_DEVICE_BASE_H_
 
// Include related header (for cc files)
#include "fastcat/device_base.h"
 
// Include c then c++ libraries
 
// Include external then project includes
#include "jsd/jsd_print.h"
 
namespace fastcat
{
 
class JsdDeviceBase : public DeviceBase
{
 public:
  typedef enum {
    SDO_RET_VAL_FAILURE,
    SDO_RET_VAL_SUCCESS,
    SDO_RET_VAL_NOT_APPLICABLE,
  } AsyncSdoRetVal;
 
 public:
  // overridden DeviceBase virtual methods
  bool Write(DeviceCmd& cmd) override;
 
  // setters/getters for EtherCat devices
  void     SetSlaveId(uint16_t slave_id);
  uint16_t GetSlaveId();
  void     SetContext(jsd_t* context);
  void     RegisterSdoResponseQueue(
          std::shared_ptr<std::queue<SdoResponse>> sdo_response_queue);
  void SetOffline(bool is_offline);
  bool IsOffline() { return is_offline_; };
 
 protected:
  AsyncSdoRetVal WriteAsyncSdoRequest(DeviceCmd& cmd);
  AsyncSdoRetVal WriteAsyncSdoRequestOnline(DeviceCmd& cmd);
  AsyncSdoRetVal WriteAsyncSdoRequestOffline(DeviceCmd& cmd);
 
  bool   is_offline_ = false;  
  jsd_t* context_    = NULL;   
  int    slave_id_   = 0;      
 
  std::shared_ptr<std::queue<SdoResponse>> sdo_response_queue_;
};
 
}  // namespace fastcat
 
#endif