SDOUpdateRequest.h

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#pragma once
 
#include <cstdint>
 
#include "RequestBase.h"
 
namespace armarx::control::ethercat
{
    struct SDOIdentifier
    {
        std::uint16_t slaveIndex;
        std::uint16_t index;
        std::uint8_t subIndex;
    };
 
    /**
     * @class SDOUpdateRequest
     * @ingroup Library-ethercat
     * @brief Brief description of class SDOUpdateRequest.
     *
     * Detailed description of class SDOUpdateRequest.
     */
    class SDOUpdateRequest : public virtual RequestBase
    {
    public:
        SDOUpdateRequest() = default;
 
        SDOUpdateRequest(SDOIdentifier sdoIdentifier,
                         int* buflen,
                         unsigned char* buf,
                         bool readRequest,
                         bool completeAccess = false);
 
        SDOIdentifier sdoIdentifier{};
        int* buflen = 0;
        unsigned char* buf = nullptr;
 
        bool readRequest = false;
        bool completeAccess = false;
    };
} // namespace armarx::control::ethercat