mode_forward_helper.hpp

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//    Copyright 2023 Christoph Hellmann Santos
//    Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
//
 
#ifndef MODE_FORWARD_HELPER_HPP
#define MODE_FORWARD_HELPER_HPP
 
#include <cstdint>
#include <memory>
#include "canopen_base_driver/lely_driver_bridge.hpp"
#include "mode_target_helper.hpp"
 
namespace ros2_canopen
{
 
template <uint16_t ID, typename TYPE, uint16_t OBJ, uint8_t SUB, uint16_t CW_MASK>
class ModeForwardHelper : public ModeTargetHelper<TYPE>
{
  std::shared_ptr<LelyDriverBridge> driver;
 
public:
  ModeForwardHelper(std::shared_ptr<LelyDriverBridge> driver) : ModeTargetHelper<TYPE>(ID)
  {
    this->driver = driver;
  }
  virtual bool read(const uint16_t & sw) { return true; }
  virtual bool write(Mode::OpModeAccesser & cw)
  {
    if (this->hasTarget())
    {
      cw = cw.get() | CW_MASK;
 
      driver->universal_set_value<TYPE>(OBJ, SUB, this->getTarget());
      return true;
    }
    else
    {
      cw = cw.get() & ~CW_MASK;
      return false;
    }
  }
};
}  // namespace ros2_canopen
 
#endif  // MODE_FORWARD_HELPER_HPP