SdoReplier.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __SDO_REPLIER_HPP__
#define __SDO_REPLIER_HPP__
 
#include <yarp/os/PortReader.h>
 
#include "ICanMessageNotifier.hpp"
#include "ICanSenderDelegate.hpp"
 
namespace roboticslab
{
 
class SdoReplier final : public yarp::os::PortReader,
                         public ICanMessageNotifier
{
public:
    SdoReplier();
 
    ~SdoReplier() override;
 
    bool read(yarp::os::ConnectionReader & reader) override;
 
    bool notifyMessage(const can_message & msg) override;
 
    void configureSender(ICanSenderDelegate * sender)
    { this->sender = sender; }
 
private:
    ICanSenderDelegate * sender;
 
    class Private;
    Private * priv;
};
 
} // namespace roboticslab
 
#endif // __SDO_REPLIER_HPP__