FunctionBlock.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012 MetraLabs GmbH (MLAB), GERMANY.
 * All rights reserved.
 * Contact: info@MetraLabs.com
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MetraLabs.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file.  Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MetraLabs (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT,
 * SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE
 * OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLABS" HAS BEEN
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN
 * "AS IS" BASIS, AND "MLAB" HAS NO OBLIGATION TO PROVIDE MAINTENANCE,
 * SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MLAB_SCITOS_FUNCTION_BLOCK_H_
#define _MLAB_SCITOS_FUNCTION_BLOCK_H_

#include <can/CANChannelInterface.h>
#include <can/CANOpenSDOClient.h>

namespace mira { namespace robot {


class FunctionBlock : public Object
{
    MIRA_OBJECT(FunctionBlock)
public:

    FunctionBlock() : functionBlockID(0), nodeID(0), index(0) {}

    FunctionBlock(uint32 iFuncBlockID, uint8 iNodeID, uint16 iIndex) :
        functionBlockID(iFuncBlockID), nodeID(iNodeID), index(iIndex)
    {}

    template <typename Reflector>
    void reflect(Reflector& r)
    {
    }


public:

    void checkFunctionBlockID();


public:
    uint32 functionBlockID;

    uint8 nodeID;

    uint16 index;

    mira::can::CANOpenSDOClientPtr sdoClient;
};


}}

#endif