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#ifndef IDCD_H
#define IDCD_H
#include "message.h"
struct Heartbeat : Message{
uint16_t id = 1;
uint8_t dlc = 0;
struct Heartbeat_data{
};
Heartbeat_data data;
Heartbeat(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Heartbeat_Response : Message{
uint16_t id = 2;
uint8_t dlc = 0;
struct Heartbeat_Response_data{
};
Heartbeat_Response_data data;
Heartbeat_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Set_Position : Message{
uint16_t id = 3;
uint8_t dlc = 5;
struct Set_Position_data{
uint32_t floatPos = 0;
uint8_t Dimension = 1;
};
Set_Position_data data;
Set_Position(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Set_Joint_Angle : Message{
uint16_t id = 4;
uint8_t dlc = 5;
struct Set_Joint_Angle_data{
uint32_t floatDegrees = 0;
uint8_t Joint = 1;
};
Set_Joint_Angle_data data;
Set_Joint_Angle(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Encoder_Status : Message{
uint16_t id = 5;
uint8_t dlc = 0;
struct Get_Encoder_Status_data{
};
Get_Encoder_Status_data data;
Get_Encoder_Status(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Encoder_Status_Response : Message{
uint16_t id = 6;
uint8_t dlc = 1;
struct Get_Encoder_Status_Response_data{
uint8_t Joint = 0;
};
Get_Encoder_Status_Response_data data;
Get_Encoder_Status_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Joint_Current : Message{
uint16_t id = 7;
uint8_t dlc = 1;
struct Get_Joint_Current_data{
uint8_t Joint = 1;
};
Get_Joint_Current_data data;
Get_Joint_Current(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Joint_Current_Response : Message{
uint16_t id = 8;
uint8_t dlc = 5;
struct Get_Joint_Current_Response_data{
uint32_t current = 0;
uint8_t Joint = 0;
};
Get_Joint_Current_Response_data data;
Get_Joint_Current_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Position : Message{
uint16_t id = 9;
uint8_t dlc = 1;
struct Get_Position_data{
uint8_t Dimension = 1;
};
Get_Position_data data;
Get_Position(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Position_Response : Message{
uint16_t id = 10;
uint8_t dlc = 5;
struct Get_Position_Response_data{
uint32_t Position = 0;
uint8_t Dimension = 0;
};
Get_Position_Response_data data;
Get_Position_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Joint_Angle : Message{
uint16_t id = 11;
uint8_t dlc = 1;
struct Get_Joint_Angle_data{
uint8_t Joint = 1;
};
Get_Joint_Angle_data data;
Get_Joint_Angle(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Joint_Angle_Response : Message{
uint16_t id = 12;
uint8_t dlc = 5;
struct Get_Joint_Angle_Response_data{
uint32_t angleBytes = 0;
uint8_t Joint = 0;
};
Get_Joint_Angle_Response_data data;
Get_Joint_Angle_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Control_Status : Message{
uint16_t id = 13;
uint8_t dlc = 0;
struct Get_Control_Status_data{
};
Get_Control_Status_data data;
Get_Control_Status(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Get_Control_Status_Response : Message{
uint16_t id = 14;
uint8_t dlc = 1;
struct Get_Control_Status_Response_data{
uint8_t status = 0;
};
Get_Control_Status_Response_data data;
Get_Control_Status_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Auto_Home : Message{
uint16_t id = 15;
uint8_t dlc = 0;
struct Auto_Home_data{
};
Auto_Home_data data;
Auto_Home(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Manual_Home : Message{
uint16_t id = 16;
uint8_t dlc = 0;
struct Manual_Home_data{
};
Manual_Home_data data;
Manual_Home(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
struct Home_Response : Message{
uint16_t id = 17;
uint8_t dlc = 0;
struct Home_Response_data{
};
Home_Response_data data;
Home_Response(){
this->ID = id;
this->DLC = dlc;
this->pData = reinterpret_cast<uint8_t*>(&data);
}
};
#endif // IDCD_H