ssdo.hpp

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#ifndef LELY_CO_SSDO_HPP_
#define LELY_CO_SSDO_HPP_
 
#ifndef __cplusplus
#error "include <lely/co/ssdo.h> for the C interface"
#endif
 
#include <lely/can/net.hpp>
#include <lely/co/ssdo.h>
 
namespace lely {
 
template <>
struct c_type_traits<__co_ssdo> {
  typedef __co_ssdo value_type;
  typedef value_type& reference;
  typedef const value_type& const_reference;
  typedef value_type* pointer;
  typedef const value_type* const_pointer;
 
  static void*
  alloc() noexcept {
    return __co_ssdo_alloc();
  }
  static void
  free(void* ptr) noexcept {
    __co_ssdo_free(ptr);
  }
 
  static pointer
  init(pointer p, CANNet* net, CODev* dev, co_unsigned8_t num) noexcept {
    return __co_ssdo_init(p, net, dev, num);
  }
 
  static void
  fini(pointer p) noexcept {
    __co_ssdo_fini(p);
  }
};
 
class COSSDO : public incomplete_c_type<__co_ssdo> {
  typedef incomplete_c_type<__co_ssdo> c_base;
 
 public:
  COSSDO(CANNet* net, CODev* dev, co_unsigned8_t num) : c_base(net, dev, num) {}
 
  CANNet*
  getNet() const noexcept {
    return co_ssdo_get_net(this);
  }
  CODev*
  getDev() const noexcept {
    return co_ssdo_get_dev(this);
  }
  co_unsigned8_t
  getNum() const noexcept {
    return co_ssdo_get_num(this);
  }
 
  const co_sdo_par&
  getPar() const noexcept {
    return *co_ssdo_get_par(this);
  }
 
  int
  getTimeout() const noexcept {
    return co_ssdo_get_timeout(this);
  }
 
  void
  setTimeout(int timeout) noexcept {
    co_ssdo_set_timeout(this, timeout);
  }
 
 protected:
  ~COSSDO() {}
};
 
}  // namespace lely
 
#endif  // !LELY_CO_SSDO_HPP_