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/*****************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 ****************************************************************************/

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#ifndef __SDOCOMMAND_H__

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#define __SDOCOMMAND_H__

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#include "Command.h"

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/****************************************************************************/

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class SdoCommand:

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    public Command

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{

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    public:

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        SdoCommand(const string &, const string &);

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        struct DataType {

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            const char *name;

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            uint16_t coeCode;

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            unsigned int byteSize;

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        };

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        static const DataType *findDataType(const string &);

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        static const DataType *findDataType(uint16_t);

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        static const char *abortText(uint32_t);

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    private:

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        struct AbortMessage {

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            uint32_t code;

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            const char *message;

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        };

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        static const DataType dataTypes[];

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        static const AbortMessage abortMessages[];

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};

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/****************************************************************************/

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#endif