/*****************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 *  published by the Free Software Foundation.
 *
 *  The IgH EtherCAT Master 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 the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 ****************************************************************************/

#ifndef __SDOCOMMAND_H__
#define __SDOCOMMAND_H__

#include "Command.h"

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

class SdoCommand:
    public Command
{
    public:
        SdoCommand(const string &, const string &);

        struct DataType {
            const char *name;
            uint16_t coeCode;
            unsigned int byteSize;
        };
        static const DataType *findDataType(const string &);
        static const DataType *findDataType(uint16_t);
        static const char *abortText(uint32_t);

    private:
        struct AbortMessage {
            uint32_t code;
            const char *message;
        };

        static const DataType dataTypes[];
        static const AbortMessage abortMessages[];
};

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

#endif