ChangeStateRequest.h

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#pragma once
 
#include <cstdint>
 
#include <armarx/control/ethercat/EtherCATState.h>
 
#include "RequestBase.h"
 
namespace armarx::control::ethercat
{
    /**
     * @class ChangeStateRequest
     * @ingroup Library-ethercat
     * @brief Brief description of class ChangeStateRequest.
     *
     * Detailed description of class ChangeStateRequest.
     */
    class ChangeStateRequest : public virtual RequestBase
    {
    public:
        ChangeStateRequest() = default;
        ChangeStateRequest(std::uint16_t slaveIndex,
                           EtherCATState state,
                           bool validate,
                           EtherCATState* actualState);
 
        std::uint16_t slaveIndex = 0;
        EtherCATState state = EtherCATState::invalid;
        bool validate = false;
 
        void setActualState(EtherCATState state);
 
    private:
        EtherCATState* actualState = nullptr;
    };
 
} // namespace armarx::control::ethercat