Encoder works also for threading cycle. non-optmized.

Pcb-1-lan9252/Firmware/.vscode/settings.json

@@ -2,6 +2,12 @@
     "files.associations": {
         "ecat_slv.h": "c",
         "compare": "cpp",
-        "*.tpp": "cpp"
+        "*.tpp": "cpp",
+        "*.tcc": "cpp",
+        "deque": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "system_error": "cpp"
     }
 }