egd_offline.h

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#ifndef FASTCAT_EGD_OFFLINE_H_
#define FASTCAT_EGD_OFFLINE_H_
 
// Include related header (for cc files)
 
// Include c then c++ libraries
 
// Include external then project includes
#include "fastcat/jsd/egd.h"
 
namespace fastcat
{
class EgdOffline : public Egd
{
 public:
  EgdOffline();
  bool      ConfigFromYaml(const YAML::Node& node) override;
  bool      Read() override;
  FaultType Process() override;
  bool      Write(DeviceCmd& cmd) override;
  void      Fault() override;
  void      Reset() override;
 
 private:
  bool ReadProfiledMode();
  bool ReadCSMode();
  bool WriteProfiledMode(DeviceCmd& cmd);
  bool WriteCSMode(DeviceCmd& cmd);
 
  jsd_egd_motion_command_t jsd_motion_cmd_ = {};
};
 
}  // namespace fastcat
 
#endif