example_cyclic_task.h

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#pragma once
 
#include <cstdint>
 
#include "core/cyclic_task.h"
#include "node/device_manager.h"
#include "node/device_parameter.h"
#include "node/somanet_drive_objects.h"
 
namespace mm::example {
 
class ExampleCyclicTask : public mm::core::CyclicTask {
 public:
  struct Config {
    uint16_t slavePosition = 1;
 
    mm::node::ObjectAddress<int32_t> temperature =
        mm::node::somanet::objects::kDriveTemperatureMeasuredTemperature;
 
    int32_t temperatureLimit = 60000;
 
    int32_t velocity = 100;
  };
 
  ExampleCyclicTask(mm::node::DeviceManager& deviceManager, Config config);
 
  void execute(const mm::core::CycleContext& ctx) noexcept override;
 
 private:
  mm::node::DeviceManager& deviceManager_;
  Config config_;
};
 
}  // namespace mm::example