From 19afa78793d484f7d4ad8686799bd2f0effd7919 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 4 Jul 2024 12:31:46 +0200 Subject: [PATCH 01/23] Very initial libfakeethercat --- fake_lib/fakeethercat.cpp | 321 ++++++++++++++++++++++++++++++++++++++ fake_lib/fakeethercat.h | 138 ++++++++++++++++ 2 files changed, 459 insertions(+) create mode 100644 fake_lib/fakeethercat.cpp create mode 100644 fake_lib/fakeethercat.h diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp new file mode 100644 index 00000000..d5075eca --- /dev/null +++ b/fake_lib/fakeethercat.cpp @@ -0,0 +1,321 @@ +/***************************************************************************** + * + * Copyright (C) 2024 Bjarne von Horn, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT master userspace library. + * + * The IgH EtherCAT master userspace library is free software; you can + * redistribute it and/or modify it under the terms of the GNU Lesser General + * Public License as published by the Free Software Foundation; version 2.1 + * of the License. + * + * The IgH EtherCAT master userspace library 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 Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with the IgH EtherCAT master userspace library. If not, see + * . + * + ****************************************************************************/ + +#include "fakeethercat.h" + +#include + +size_t pdo::sizeInBytes() const +{ + size_t ans = 0; + for (const auto &entry : entries) + { + ans += entry.bit_length; + } + return (ans + 7) / 8; +} + +Offset pdo::findEntry(uint16_t idx, uint8_t subindex) const +{ + size_t offset_bits = 0; + for (const auto &entry : entries) + { + if (entry.index == idx && entry.subindex == subindex) + { + return Offset(offset_bits / 8, offset_bits % 8); + } + offset_bits += entry.bit_length; + } + return NotFound; +} + +void ec_domain::activate() +{ +} + +ssize_t ec_domain::map(ec_slave_config const &config, unsigned int syncManager, + uint16_t pdo_index) +{ + for (const auto &pdo : mapped_pdos) + { + if (pdo.slave_address == config.address && syncManager == pdo.syncManager && pdo_index == pdo.pdo_index) + { + // already mapped; + return pdo.offset; + } + } + const auto ans = data.size(); + mapped_pdos.emplace_back(ans, config.address, syncManager, pdo_index); + data.resize(ans + config.sync_managers.at(syncManager).pdos.at(pdo_index).sizeInBytes()); + return ans; +} + +uint8_t *ecrt_domain_data( + const ec_domain_t *domain) +{ + return const_cast(domain->data.data()); +} + +int ecrt_domain_process( + ec_domain_t *domain) +{ + if (domain->data.empty()) + return 0; + std::cout << ' '; + for (const auto i : domain->data) + std::cout << std::hex << std::setw(2) << std::setfill('0') << (int)i; + return 0; +} +int ecrt_domain_queue( + ec_domain_t *domain) +{ + return 0; +} + +int ecrt_domain_state( + const ec_domain_t *domain, /**< Domain. */ + ec_domain_state_t *state /**< Pointer to a state object to store the + information. */ +) +{ + return 0; +} + +int ecrt_master_activate( + ec_master_t *master /**< EtherCAT master. */ +) +{ + for (auto &domain : master->domains) + domain.activate(); + return 0; +} + +int ecrt_master_application_time( + ec_master_t *master, /**< EtherCAT master. */ + uint64_t app_time /**< Application time. */ +) +{ + return 0; +} + +ec_domain_t *ecrt_master_create_domain( + ec_master_t *master /**< EtherCAT master. */ +) +{ + master->domains.emplace_back(); + return &master->domains.back(); +} + +int ecrt_master_receive( + ec_master_t *master /**< EtherCAT master. */ +) +{ + std::cout << '\r'; + return 0; +} + +int ecrt_master_send( + ec_master_t *master /**< EtherCAT master. */ +) +{ + std::cout << std::flush; + return 0; +} + +ec_slave_config_t *ecrt_master_slave_config( + ec_master_t *master, /**< EtherCAT master */ + uint16_t alias, /**< Slave alias. */ + uint16_t position, /**< Slave position. */ + uint32_t vendor_id, /**< Expected vendor ID. */ + uint32_t product_code /**< Expected product code. */ +) +{ + const ec_address address{alias, position}; + const auto it = master->slaves.find(address); + if (it != master->slaves.end()) + { + if (it->second.vendor_id == vendor_id && it->second.product_code == product_code) + return &it->second; + else + { + std::cerr << "Attempted to reconfigure slave (" << alias << "," << position << ")!\n"; + return nullptr; + } + } + else + { + return &master->slaves.insert(std::make_pair(ec_address{address}, ec_slave_config{address, vendor_id, product_code})).first->second; + } +} +int ecrt_master_state( + const ec_master_t *master, /**< EtherCAT master. */ + ec_master_state_t *state /**< Structure to store the information. */ +) +{ + state->slaves_responding = master->slaves.size(); + state->link_up = 1; + state->al_states = 8; + return 0; +} +int ecrt_master_sync_reference_clock( + ec_master_t *master /**< EtherCAT master. */ +) +{ + return 0; +} +int ecrt_master_sync_slave_clocks( + ec_master_t *master /**< EtherCAT master. */ +) +{ + return 0; +} +ec_master_t *ecrt_request_master( + unsigned int master_index /**< Index of the master to request. */ +) +{ + return new ec_master(); +} + +int ecrt_slave_config_complete_sdo( + ec_slave_config_t *sc, /**< Slave configuration. */ + uint16_t index, /**< Index of the SDO to configure. */ + const uint8_t *data, /**< Pointer to the data. */ + size_t size /**< Size of the \a data. */ +) +{ +} +ec_sdo_request_t *ecrt_slave_config_create_sdo_request( + ec_slave_config_t *sc, /**< Slave configuration. */ + uint16_t index, /**< SDO index. */ + uint8_t subindex, /**< SDO subindex. */ + size_t size /**< Data size to reserve. */ +) +{ +} +int ecrt_slave_config_dc( + ec_slave_config_t *sc, /**< Slave configuration. */ + uint16_t assign_activate, /**< AssignActivate word. */ + uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */ + int32_t sync0_shift, /**< SYNC0 shift time [ns]. */ + uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */ + int32_t sync1_shift /**< SYNC1 shift time [ns]. */ +) +{ + return 0; +} +int ecrt_slave_config_idn( + ec_slave_config_t *sc, /**< Slave configuration. */ + uint8_t drive_no, /**< Drive number. */ + uint16_t idn, /**< SoE IDN. */ + ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or + SAFEOP). */ + const uint8_t *data, /**< Pointer to the data. */ + size_t size /**< Size of the \a data. */ +) +{ + return 0; +} +int ecrt_slave_config_pdos( + ec_slave_config_t *sc, /**< Slave configuration. */ + unsigned int n_syncs, /**< Number of sync manager configurations in + \a syncs. */ + const ec_sync_info_t syncs[] /**< Array of sync manager + configurations. */ +) +{ + for (unsigned int sync_idx = 0; sync_idx < n_syncs; ++sync_idx) + { + if (syncs[sync_idx].index == 0xff) + { + return 0; + } + auto &manager = sc->sync_managers[syncs[sync_idx].index]; + manager.dir = syncs[sync_idx].dir; + for (unsigned int i = 0; i < syncs[sync_idx].n_pdos; ++i) + { + const auto &in_pdo = syncs[sync_idx].pdos[i]; + if (in_pdo.n_entries == 0 || !in_pdo.entries) + { + std::cerr << "Default mapping not supported."; + return -1; + } + auto &out_pdo = manager.pdos[in_pdo.index]; + for (unsigned int pdo_entry_idx = 0; pdo_entry_idx < in_pdo.n_entries; ++pdo_entry_idx) + { + out_pdo.entries.push_back(in_pdo.entries[pdo_entry_idx]); + } + } + } + + return 0; +} +int ecrt_slave_config_reg_pdo_entry( + ec_slave_config_t *sc, /**< Slave configuration. */ + uint16_t entry_index, /**< Index of the PDO entry to register. */ + uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */ + ec_domain_t *domain, /**< Domain. */ + unsigned int *bit_position /**< Optional address if bit addressing + is desired */ +) +{ + for (auto sync_it : sc->sync_managers) + { + for (auto pdo_it : sync_it.second.pdos) + { + const auto offset = pdo_it.second.findEntry(entry_index, entry_subindex); + if (offset != NotFound) + { + const auto domain_offset = domain->map(*sc, sync_it.first, pdo_it.first); + if (domain_offset != -1) + { + if (bit_position) + *bit_position = offset.bits; + return domain_offset + offset.bytes; + } + else + { + return -1; + } + } + } + } + return -1; // offset +} + +int ecrt_slave_config_sdo( + ec_slave_config_t *sc, /**< Slave configuration. */ + uint16_t index, /**< Index of the SDO to configure. */ + uint8_t subindex, /**< Subindex of the SDO to configure. */ + const uint8_t *data, /**< Pointer to the data. */ + size_t size /**< Size of the \a data. */ +) +{ +} + +void ecrt_write_lreal(void *data, double const value) +{ + memcpy(data, &value, sizeof(value)); +} +void ecrt_write_real(void *data, float const value) +{ + memcpy(data, &value, sizeof(value)); +} diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h new file mode 100644 index 00000000..b0b30853 --- /dev/null +++ b/fake_lib/fakeethercat.h @@ -0,0 +1,138 @@ +/***************************************************************************** + * + * Copyright (C) 2024 Bjarne von Horn, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT master userspace library. + * + * The IgH EtherCAT master userspace library is free software; you can + * redistribute it and/or modify it under the terms of the GNU Lesser General + * Public License as published by the Free Software Foundation; version 2.1 + * of the License. + * + * The IgH EtherCAT master userspace library 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 Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with the IgH EtherCAT master userspace library. If not, see + * . + * + ****************************************************************************/ + +#pragma once + +#include + +#include +#include +#include +#include +#include + +struct Offset +{ + int bytes; + int bits; + + constexpr Offset(int bytes, + int bits) : bytes(bytes), bits(bits) {} + + constexpr bool operator!=(const Offset &other) const noexcept + { + return bytes != other.bytes || bits != other.bits; + } +}; + +constexpr Offset NotFound(-1, -1); + +struct pdo +{ + std::vector entries; + + size_t sizeInBytes() const; + + Offset findEntry(uint16_t idx, uint8_t subindex) const; +}; + +struct syncManager +{ + ec_direction_t dir; + std::map pdos; +}; + +class ec_address +{ + uint32_t value; + +public: + ec_address(uint16_t alias, /**< Slave alias. */ + uint16_t position /**< Slave position. */) + : value(static_cast(alias) << 16 | position) + { + } + + uint16_t getAlias() const { return value >> 16; } + uint16_t getPosition() const { return value & 0xFFFF; } + + bool operator<(const ec_address &other) const noexcept + { + return value < other.value; + } + + bool operator==(const ec_address &other) const noexcept + { + return value == other.value; + } +}; + +struct ec_slave_config +{ + ec_address address; + uint32_t vendor_id; /**< Expected vendor ID. */ + uint32_t product_code; /**< Expected product code. */ + std::map sync_managers; + + ec_slave_config( + ec_address address, + uint32_t vendor_id, /**< Expected vendor ID. */ + uint32_t product_code /**< Expected product code. */) + : address(address), vendor_id(vendor_id), product_code(product_code) + { + } +}; + +struct ec_domain +{ + + struct PdoMap + { + size_t offset; + ec_address slave_address; + unsigned int syncManager; + uint16_t pdo_index; + + PdoMap( + size_t offset, + ec_address slave_address, + unsigned int syncManager, + uint16_t pdo_index) + : offset(offset), slave_address(slave_address), syncManager(syncManager), pdo_index(pdo_index) + { + } + }; + + std::vector data; + std::vector mapped_pdos; + + void activate(); + + ssize_t map(ec_slave_config const &config, unsigned int syncManager, + uint16_t pdo_index); +}; + +struct ec_master +{ + std::list domains; + std::map slaves; +}; From 4c953d50005e3d38055d6bea780584230836687b Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 4 Jul 2024 15:33:11 +0200 Subject: [PATCH 02/23] WIP add rtipc --- fake_lib/fakeethercat.cpp | 129 ++++++++++++++++++++++++++++++++------ fake_lib/fakeethercat.h | 55 +++++++++++++++- 2 files changed, 161 insertions(+), 23 deletions(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index d5075eca..c5424542 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -48,13 +48,64 @@ Offset pdo::findEntry(uint16_t idx, uint8_t subindex) const return NotFound; } -void ec_domain::activate() +ec_domain::ec_domain(rtipc *rtipc, const char *prefix) : rt_group(rtipc_create_group(rtipc, 1.0)), prefix(prefix) { } +int ec_domain::activate(int domain_id) +{ + connected.resize(mapped_pdos.size()); + size_t idx = 0; + for (const auto &pdo : mapped_pdos) + { + void *rt_pdo = nullptr; + char buf[512]; + const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%08X/%04X", prefix, domain_id, pdo.slave_address.getCombined(), pdo.pdo_index); + if (fmt < 0 || fmt >= (int)sizeof(buf)) + { + return -ENOBUFS; + } + + switch (pdo.dir) + { + case EC_DIR_OUTPUT: + rt_pdo = rtipc_txpdo(rt_group, buf, rtipc_uint8_T, data.data() + pdo.offset, pdo.size_bytes); + break; + case EC_DIR_INPUT: + rt_pdo = rtipc_rxpdo(rt_group, buf, rtipc_uint8_T, data.data() + pdo.offset, pdo.size_bytes, connected.data() + idx); + break; + default: + std::cerr << "Unknown direction " << pdo.dir << '\n'; + return -1; + } + if (!rt_pdo) + { + std::cerr << "Failed to register RtIPC PDO\n"; + return -1; + } + ++idx; + } + activated_ = true; + return 0; +} + +int ec_domain::process() +{ + rtipc_rx(rt_group); + return 0; +} + +int ec_domain::queue() +{ + rtipc_tx(rt_group); + return 0; +} + ssize_t ec_domain::map(ec_slave_config const &config, unsigned int syncManager, uint16_t pdo_index) { + if (activated_) + return -1; for (const auto &pdo : mapped_pdos) { if (pdo.slave_address == config.address && syncManager == pdo.syncManager && pdo_index == pdo.pdo_index) @@ -64,31 +115,27 @@ ssize_t ec_domain::map(ec_slave_config const &config, unsigned int syncManager, } } const auto ans = data.size(); - mapped_pdos.emplace_back(ans, config.address, syncManager, pdo_index); - data.resize(ans + config.sync_managers.at(syncManager).pdos.at(pdo_index).sizeInBytes()); + const auto size = config.sync_managers.at(syncManager).pdos.at(pdo_index).sizeInBytes(); + mapped_pdos.emplace_back(ans, size, config.address, syncManager, pdo_index, config.sync_managers.at(syncManager).dir); + data.resize(ans + size); return ans; } uint8_t *ecrt_domain_data( const ec_domain_t *domain) { - return const_cast(domain->data.data()); + return domain->getData(); } int ecrt_domain_process( ec_domain_t *domain) { - if (domain->data.empty()) - return 0; - std::cout << ' '; - for (const auto i : domain->data) - std::cout << std::hex << std::setw(2) << std::setfill('0') << (int)i; - return 0; + return domain->process(); } int ecrt_domain_queue( ec_domain_t *domain) { - return 0; + return domain->queue(); } int ecrt_domain_state( @@ -100,13 +147,23 @@ int ecrt_domain_state( return 0; } +int ec_master::activate() +{ + int i = 0; + for (auto &domain : domains) + { + if (domain.activate(i)) + return -1; + ++i; + } + return rtipc_prepare(rt_ipc.get()); +} + int ecrt_master_activate( ec_master_t *master /**< EtherCAT master. */ ) { - for (auto &domain : master->domains) - domain.activate(); - return 0; + return master->activate(); } int ecrt_master_application_time( @@ -121,8 +178,13 @@ ec_domain_t *ecrt_master_create_domain( ec_master_t *master /**< EtherCAT master. */ ) { - master->domains.emplace_back(); - return &master->domains.back(); + return master->createDomain(); +} + +ec_domain *ec_master::createDomain() +{ + domains.emplace_back(rt_ipc.get(), "/FakeTaxi"); + return &domains.back(); } int ecrt_master_receive( @@ -148,10 +210,20 @@ ec_slave_config_t *ecrt_master_slave_config( uint32_t vendor_id, /**< Expected vendor ID. */ uint32_t product_code /**< Expected product code. */ ) +{ + return master->slave_config(alias, position, vendor_id, product_code); +} + +ec_slave_config_t *ec_master::slave_config( + uint16_t alias, /**< Slave alias. */ + uint16_t position, /**< Slave position. */ + uint32_t vendor_id, /**< Expected vendor ID. */ + uint32_t product_code /**< Expected product code. */ +) { const ec_address address{alias, position}; - const auto it = master->slaves.find(address); - if (it != master->slaves.end()) + const auto it = slaves.find(address); + if (it != slaves.end()) { if (it->second.vendor_id == vendor_id && it->second.product_code == product_code) return &it->second; @@ -163,7 +235,7 @@ ec_slave_config_t *ecrt_master_slave_config( } else { - return &master->slaves.insert(std::make_pair(ec_address{address}, ec_slave_config{address, vendor_id, product_code})).first->second; + return &slaves.insert(std::make_pair(ec_address{address}, ec_slave_config{address, vendor_id, product_code})).first->second; } } int ecrt_master_state( @@ -171,7 +243,7 @@ int ecrt_master_state( ec_master_state_t *state /**< Structure to store the information. */ ) { - state->slaves_responding = master->slaves.size(); + state->slaves_responding = master->getNoSlaves(); state->link_up = 1; state->al_states = 8; return 0; @@ -188,6 +260,11 @@ int ecrt_master_sync_slave_clocks( { return 0; } +void ecrt_release_master(ec_master_t *master) +{ + delete master; +} + ec_master_t *ecrt_request_master( unsigned int master_index /**< Index of the master to request. */ ) @@ -195,6 +272,10 @@ ec_master_t *ecrt_request_master( return new ec_master(); } +ec_master::ec_master() : rt_ipc(rtipc_create("FakeTaxi", "/tmp/FakeTaxi")) +{ +} + int ecrt_slave_config_complete_sdo( ec_slave_config_t *sc, /**< Slave configuration. */ uint16_t index, /**< Index of the SDO to configure. */ @@ -202,6 +283,7 @@ int ecrt_slave_config_complete_sdo( size_t size /**< Size of the \a data. */ ) { + return -1; } ec_sdo_request_t *ecrt_slave_config_create_sdo_request( ec_slave_config_t *sc, /**< Slave configuration. */ @@ -210,6 +292,7 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request( size_t size /**< Data size to reserve. */ ) { + return nullptr; } int ecrt_slave_config_dc( ec_slave_config_t *sc, /**< Slave configuration. */ @@ -289,6 +372,11 @@ int ecrt_slave_config_reg_pdo_entry( { if (bit_position) *bit_position = offset.bits; + else if (!offset.bits) + { + std::cerr << "Pdo Entry is not byte aligned but bit offset is ignored!\n"; + return -1; + } return domain_offset + offset.bytes; } else @@ -309,6 +397,7 @@ int ecrt_slave_config_sdo( size_t size /**< Size of the \a data. */ ) { + return -1; } void ecrt_write_lreal(void *data, double const value) diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h index b0b30853..1ae95045 100644 --- a/fake_lib/fakeethercat.h +++ b/fake_lib/fakeethercat.h @@ -23,11 +23,13 @@ #pragma once #include +#include #include #include #include #include +#include #include struct Offset @@ -74,6 +76,7 @@ public: uint16_t getAlias() const { return value >> 16; } uint16_t getPosition() const { return value & 0xFFFF; } + uint32_t getCombined() const { return value; } bool operator<(const ec_address &other) const noexcept { @@ -105,27 +108,48 @@ struct ec_slave_config struct ec_domain { +private: struct PdoMap { size_t offset; + size_t size_bytes; ec_address slave_address; unsigned int syncManager; uint16_t pdo_index; + ec_direction_t dir; PdoMap( size_t offset, + size_t size_bytes, ec_address slave_address, unsigned int syncManager, - uint16_t pdo_index) - : offset(offset), slave_address(slave_address), syncManager(syncManager), pdo_index(pdo_index) + uint16_t pdo_index, + ec_direction_t dir) + : offset(offset), size_bytes(size_bytes), slave_address(slave_address), syncManager(syncManager), pdo_index(pdo_index), dir(dir) { } }; std::vector data; + std::vector connected; std::vector mapped_pdos; + rtipc_group *rt_group; + const char *prefix; + bool activated_ = false; - void activate(); +public: + explicit ec_domain(struct rtipc *rtipc, const char *prefix); + + uint8_t *getData() const + { + if (!activated_) + return nullptr; + return const_cast(data.data()); + } + + int activate(int domain_id); + int process(); + int queue(); ssize_t map(ec_slave_config const &config, unsigned int syncManager, uint16_t pdo_index); @@ -133,6 +157,31 @@ struct ec_domain struct ec_master { +private: + struct RtIpcDeleter + { + void operator()(struct rtipc *r) const + { + rtipc_exit(r); + } + }; + std::list domains; std::map slaves; + std::unique_ptr rt_ipc; + +public: + ec_master(); + + int activate(); + ec_domain *createDomain(); + + int getNoSlaves() const { return slaves.size(); } + +ec_slave_config_t *slave_config( + uint16_t alias, /**< Slave alias. */ + uint16_t position, /**< Slave position. */ + uint32_t vendor_id, /**< Expected vendor ID. */ + uint32_t product_code /**< Expected product code. */ +); }; From daa555a4f6badafd2d088295302f558f6531c20a Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 4 Jul 2024 18:13:17 +0200 Subject: [PATCH 03/23] Make rtipc name configurable --- fake_lib/fakeethercat.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index c5424542..7e5f894c 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -272,7 +272,15 @@ ec_master_t *ecrt_request_master( return new ec_master(); } -ec_master::ec_master() : rt_ipc(rtipc_create("FakeTaxi", "/tmp/FakeTaxi")) +static const char *getName() +{ + if (const auto ans = getenv("FAKE_EC_NAME")) { + return ans; + } + return "FakeTaxi"; +} + +ec_master::ec_master() : rt_ipc(rtipc_create(getName(), "/tmp/FakeTaxi")) { } From 0740c3bbb6dc5ee27420380134cffa0dd3956143 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 4 Jul 2024 18:30:35 +0200 Subject: [PATCH 04/23] permutate domain ids with FAKE_DOMAIN_PERMUTATION env --- fake_lib/fakeethercat.cpp | 44 ++++++++++++++++++++++++++++++++++++--- 1 file changed, 41 insertions(+), 3 deletions(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 7e5f894c..6f00f148 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -23,6 +23,13 @@ #include "fakeethercat.h" #include +#include +#include +#include +#include + + +static std::vector getPermutationVector(size_t count); size_t pdo::sizeInBytes() const { @@ -149,10 +156,11 @@ int ecrt_domain_state( int ec_master::activate() { + const auto permutate = getPermutationVector(domains.size()); int i = 0; for (auto &domain : domains) { - if (domain.activate(i)) + if (domain.activate(permutate[i])) return -1; ++i; } @@ -163,7 +171,12 @@ int ecrt_master_activate( ec_master_t *master /**< EtherCAT master. */ ) { - return master->activate(); + try { + return master->activate(); + } catch (const std::exception& e) { + std::cerr << "Could not activate: " << e.what() << '\n'; + return -1; + } } int ecrt_master_application_time( @@ -274,12 +287,37 @@ ec_master_t *ecrt_request_master( static const char *getName() { - if (const auto ans = getenv("FAKE_EC_NAME")) { + if (const auto ans = getenv("FAKE_EC_NAME")) + { return ans; } return "FakeTaxi"; } +static std::vector getPermutationVector(size_t count) +{ + std::vector ans; + for (size_t i = 0; i < count; ++i) + { + ans.push_back(i); + } + const auto spec = getenv("FAKE_DOMAIN_PERMUTATION"); + if (!spec) + return ans; + std::istringstream is(spec); + std::istream_iterator begin(is), end; + std::vector values(begin, end); + if (values.size() % 2) + { + throw std::invalid_argument("Specify an even number of indices to permutate.\n"); + } + for (size_t i = 0; i < values.size() / 2; ++i) + { + std::swap(ans.at(values[2 * i]), ans.at(values[2 * i + 1])); + } + return ans; +} + ec_master::ec_master() : rt_ipc(rtipc_create(getName(), "/tmp/FakeTaxi")) { } From 19779300e99e31a0318e65e1fbd8e9baf86a1b03 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 4 Jul 2024 18:31:20 +0200 Subject: [PATCH 05/23] Add debug statements. --- fake_lib/fakeethercat.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 6f00f148..6694f09d 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -77,9 +77,11 @@ int ec_domain::activate(int domain_id) { case EC_DIR_OUTPUT: rt_pdo = rtipc_txpdo(rt_group, buf, rtipc_uint8_T, data.data() + pdo.offset, pdo.size_bytes); + std::cerr << "Registering " << buf << " as Output\n"; break; case EC_DIR_INPUT: rt_pdo = rtipc_rxpdo(rt_group, buf, rtipc_uint8_T, data.data() + pdo.offset, pdo.size_bytes, connected.data() + idx); + std::cerr << "Registering " << buf << " as Input\n"; break; default: std::cerr << "Unknown direction " << pdo.dir << '\n'; From 42b980c0d4177fc320aeb498a174dc750a5784c5 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 4 Jul 2024 19:00:42 +0200 Subject: [PATCH 06/23] add fake ethercat library to build system. --- .gitignore | 1 + Makefile.am | 5 +++++ configure.ac | 32 ++++++++++++++++++++++++++++++ fake_lib/Makefile.am | 46 ++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 84 insertions(+) create mode 100644 fake_lib/Makefile.am diff --git a/.gitignore b/.gitignore index 694273bd..482f9389 100644 --- a/.gitignore +++ b/.gitignore @@ -33,6 +33,7 @@ ethercat.spec examples/dc_user/ec_dc_user_example examples/user/ec_user_example examples/user/build/ +fake_lib/libfakeethercat.la lib/*.cmake lib/libethercat.la lib/libethercat.pc diff --git a/Makefile.am b/Makefile.am index 650863ee..a70206a6 100644 --- a/Makefile.am +++ b/Makefile.am @@ -47,6 +47,11 @@ SUBDIRS += \ examples endif +if ENABLE_FAKEUSERLIB +SUBDIRS += \ + fake_lib +endif + if ENABLE_TTY SUBDIRS += tty endif diff --git a/configure.ac b/configure.ac index 04b78bf4..22007635 100644 --- a/configure.ac +++ b/configure.ac @@ -1168,6 +1168,37 @@ fi AM_CONDITIONAL(ENABLE_USERLIB, test "x$userlib" = "x1") +#----------------------------------------------------------------------------- +# Fake Userspace library generation +#----------------------------------------------------------------------------- + +AC_MSG_CHECKING([whether to build the fake userspace library]) + +AC_ARG_ENABLE([fakeuserlib], + AS_HELP_STRING([--enable-fakeuserlib], + [Generation of the userspace library (default: no)]), + [ + case "${enableval}" in + yes) fakeuserlib=1 + ;; + no) fakeuserlib=0 + ;; + *) AC_MSG_ERROR([Invalid value for --enable-fakeuserlib]) + ;; + esac + ], + [fakeuserlib=0] +) + +if test "x${fakeuserlib}" = "x1"; then + AC_MSG_RESULT([yes]) + PKG_CHECK_MODULES([RTIPC], [librtipc]) +else + AC_MSG_RESULT([no]) +fi + +AM_CONDITIONAL(ENABLE_FAKEUSERLIB, test "x$fakeuserlib" = "x1") + #----------------------------------------------------------------------------- # TTY driver #----------------------------------------------------------------------------- @@ -1389,6 +1420,7 @@ AC_CONFIG_FILES([ examples/user/Makefile examples/xenomai/Makefile examples/xenomai_posix/Makefile + fake_lib/Makefile include/Makefile lib/Makefile lib/libethercat.pc diff --git a/fake_lib/Makefile.am b/fake_lib/Makefile.am new file mode 100644 index 00000000..18cbe7de --- /dev/null +++ b/fake_lib/Makefile.am @@ -0,0 +1,46 @@ +#------------------------------------------------------------------------------ +# +# Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH +# +# This file is part of the IgH EtherCAT master userspace library. +# +# The IgH EtherCAT master userspace library is free software; you can +# redistribute it and/or modify it under the terms of the GNU Lesser General +# Public License as published by the Free Software Foundation; version 2.1 of +# the License. +# +# The IgH EtherCAT master userspace library 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 Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with the IgH EtherCAT master userspace library. If not, see +# . +# +#------------------------------------------------------------------------------ + +lib_LTLIBRARIES = libfakeethercat.la + +#------------------------------------------------------------------------------ + +libfakeethercat_la_SOURCES = \ + fakeethercat.cpp + +noinst_HEADERS = \ + fakeethercat.h + +libfakeethercat_la_CXXFLAGS = \ + -fno-strict-aliasing \ + -Wall \ + -I$(top_srcdir)/include \ + -Dethercat_EXPORTS \ + -fvisibility=hidden \ + $(RTIPC_CFLAGS) + +libfakeethercat_la_LDFLAGS = -version-info 3:0:2 \ + $(RTIPC_LIBS) \ + -Wl,--version-script=$(srcdir)/../lib/libethercat.map \ + -fvisibility=hidden + +libfakeethercat_la_DEPENDENCIES = ../lib/libethercat.map From 4795be145a81ce5505f2de9b6df211349fdbc394 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 5 Jul 2024 11:05:36 +0200 Subject: [PATCH 07/23] Save SDO config --- fake_lib/fakeethercat.cpp | 39 +++++++++++++++++++++++++++++++++++++-- fake_lib/fakeethercat.h | 29 +++++++++++++++++++++++++++++ 2 files changed, 66 insertions(+), 2 deletions(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 6694f09d..2d6ed317 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -331,7 +331,7 @@ int ecrt_slave_config_complete_sdo( size_t size /**< Size of the \a data. */ ) { - return -1; + return ecrt_slave_config_sdo(sc, index, 0, data, size); } ec_sdo_request_t *ecrt_slave_config_create_sdo_request( ec_slave_config_t *sc, /**< Slave configuration. */ @@ -437,6 +437,40 @@ int ecrt_slave_config_reg_pdo_entry( return -1; // offset } +int ecrt_slave_config_sdo8( + ec_slave_config_t *sc, /**< Slave configuration */ + uint16_t sdo_index, /**< Index of the SDO to configure. */ + uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */ + uint8_t value /**< Value to set. */ +) +{ + return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, &value, 1); +} + +int ecrt_slave_config_sdo16( + ec_slave_config_t *sc, /**< Slave configuration */ + uint16_t sdo_index, /**< Index of the SDO to configure. */ + uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */ + uint16_t const value /**< Value to set. */ +) +{ + uint8_t buf[sizeof(value)]; + memcpy(&buf, &value, sizeof(value)); + return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, buf, sizeof(buf)); +} + +int ecrt_slave_config_sdo32( + ec_slave_config_t *sc, /**< Slave configuration */ + uint16_t sdo_index, /**< Index of the SDO to configure. */ + uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */ + uint32_t const value /**< Value to set. */ +) +{ + uint8_t buf[sizeof(value)]; + memcpy(&buf, &value, sizeof(value)); + return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, buf, sizeof(buf)); +} + int ecrt_slave_config_sdo( ec_slave_config_t *sc, /**< Slave configuration. */ uint16_t index, /**< Index of the SDO to configure. */ @@ -445,7 +479,8 @@ int ecrt_slave_config_sdo( size_t size /**< Size of the \a data. */ ) { - return -1; + sc->sdos[sdo_address{index, subindex}] = std::basic_string(data, data + size); + return 0; } void ecrt_write_lreal(void *data, double const value) diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h index 1ae95045..2a26d5d8 100644 --- a/fake_lib/fakeethercat.h +++ b/fake_lib/fakeethercat.h @@ -30,6 +30,7 @@ #include #include #include +#include #include struct Offset @@ -89,12 +90,40 @@ public: } }; + +class sdo_address +{ + uint32_t value; + +public: + sdo_address(uint16_t index, /**< Slave alias. */ + uint8_t subindex /**< Slave position. */) + : value(static_cast(index) << 8 | subindex) + { + } + + uint16_t getIndex() const { return value >> 8; } + uint8_t getSubIndex() const { return value & 0xFF; } + uint32_t getCombined() const { return value; } + + bool operator<(const sdo_address &other) const noexcept + { + return value < other.value; + } + + bool operator==(const sdo_address &other) const noexcept + { + return value == other.value; + } +}; + struct ec_slave_config { ec_address address; uint32_t vendor_id; /**< Expected vendor ID. */ uint32_t product_code; /**< Expected product code. */ std::map sync_managers; + std::map> sdos; ec_slave_config( ec_address address, From 013aafc3293d66738e0cd5257ede620ad3b3534b Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 5 Jul 2024 11:06:05 +0200 Subject: [PATCH 08/23] Simulate domain state --- fake_lib/fakeethercat.cpp | 9 ++++++++- fake_lib/fakeethercat.h | 3 +++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 2d6ed317..3a885e6c 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -26,9 +26,9 @@ #include #include #include +#include #include - static std::vector getPermutationVector(size_t count); size_t pdo::sizeInBytes() const @@ -61,10 +61,13 @@ ec_domain::ec_domain(rtipc *rtipc, const char *prefix) : rt_group(rtipc_create_g int ec_domain::activate(int domain_id) { + std::unordered_set slaves; + connected.resize(mapped_pdos.size()); size_t idx = 0; for (const auto &pdo : mapped_pdos) { + slaves.insert(pdo.slave_address.getCombined()); void *rt_pdo = nullptr; char buf[512]; const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%08X/%04X", prefix, domain_id, pdo.slave_address.getCombined(), pdo.pdo_index); @@ -95,6 +98,7 @@ int ec_domain::activate(int domain_id) ++idx; } activated_ = true; + numSlaves = slaves.size(); return 0; } @@ -153,6 +157,9 @@ int ecrt_domain_state( information. */ ) { + state->working_counter = domain->getNumSlaves(); + state->redundancy_active = 0; + state->wc_state = EC_WC_COMPLETE; return 0; } diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h index 2a26d5d8..a8fd813d 100644 --- a/fake_lib/fakeethercat.h +++ b/fake_lib/fakeethercat.h @@ -165,6 +165,7 @@ private: rtipc_group *rt_group; const char *prefix; bool activated_ = false; + size_t numSlaves = 0; public: explicit ec_domain(struct rtipc *rtipc, const char *prefix); @@ -180,6 +181,8 @@ public: int process(); int queue(); + size_t getNumSlaves() const { return numSlaves; } + ssize_t map(ec_slave_config const &config, unsigned int syncManager, uint16_t pdo_index); }; From 0261b21adb2428406287c5a32d567e72488ab6d0 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 5 Jul 2024 11:06:21 +0200 Subject: [PATCH 09/23] more fake functions --- fake_lib/fakeethercat.cpp | 45 +++++++++++++++++++++++++++++++++++++-- 1 file changed, 43 insertions(+), 2 deletions(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 3a885e6c..5e7f64c3 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -180,9 +180,12 @@ int ecrt_master_activate( ec_master_t *master /**< EtherCAT master. */ ) { - try { + try + { return master->activate(); - } catch (const std::exception& e) { + } + catch (const std::exception &e) + { std::cerr << "Could not activate: " << e.what() << '\n'; return -1; } @@ -270,12 +273,35 @@ int ecrt_master_state( state->al_states = 8; return 0; } + +int ecrt_master_sync_monitor_queue( + ec_master_t *master /**< EtherCAT master. */ +) +{ + return 0; +} + +uint32_t ecrt_master_sync_monitor_process( + const ec_master_t *master /**< EtherCAT master. */ +) +{ + return 32; +} int ecrt_master_sync_reference_clock( ec_master_t *master /**< EtherCAT master. */ ) { return 0; } + +int ecrt_master_sync_reference_clock_to( + ec_master_t *master, /**< EtherCAT master. */ + uint64_t sync_time /**< Sync reference clock to this time. */ +) +{ + return 0; +} + int ecrt_master_sync_slave_clocks( ec_master_t *master /**< EtherCAT master. */ ) @@ -380,6 +406,8 @@ int ecrt_slave_config_pdos( configurations. */ ) { + if (!syncs) + return 0; for (unsigned int sync_idx = 0; sync_idx < n_syncs; ++sync_idx) { if (syncs[sync_idx].index == 0xff) @@ -498,3 +526,16 @@ void ecrt_write_real(void *data, float const value) { memcpy(data, &value, sizeof(value)); } +float ecrt_read_real(const void *data) +{ + float ans; + memcpy(&ans, data, sizeof(ans)); + return ans; +} + +double ecrt_read_lreal(const void *data) +{ + double ans; + memcpy(&ans, data, sizeof(ans)); + return ans; +} From c15195178fe20cf61ba30b0d5dcc349d43698504 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Mon, 8 Jul 2024 15:23:54 +0200 Subject: [PATCH 10/23] Add SDO Json Dump to FakeLib. --- fake_lib/fakeethercat.cpp | 84 ++++++++++++++++++++++++++++++++++++++- fake_lib/fakeethercat.h | 4 ++ 2 files changed, 87 insertions(+), 1 deletion(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 5e7f64c3..8a9f77ec 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -23,14 +23,62 @@ #include "fakeethercat.h" #include +#include #include #include #include #include #include +#include static std::vector getPermutationVector(size_t count); +static std::ostream &operator<<(std::ostream &os, const sdo_address &a) +{ + os << std::setfill('0') << std::hex << std::setw(6) << a.getCombined(); + return os; +} +static std::ostream &operator<<(std::ostream &os, const ec_address &a) +{ + os << std::setfill('0') << std::hex << std::setw(8) << a.getCombined(); + return os; +} + +static void add_spaces(std::ostream &out, int const num) +{ + for (int i = 0; i < num; ++i) + { + out << ' '; + } +} + +template +static void map2Json(std::ostream &out, const Map &map, Func &&print_func, int indent = 0) +{ + indent += 4; + out << "{"; + bool is_first = true; + for (const auto &kv : map) + { + if (is_first) + { + out << '\n'; + is_first = false; + } + else + { + out << ",\n"; + } + add_spaces(out, indent); + out << "\"0x" << std::hex << std::setfill('0') << std::setw(2 * sizeof(typename Map::key_type)); + out << kv.first << "\": "; + print_func(out, kv.second); + } + out << '\n'; + add_spaces(out, indent - 4); + out << "}"; +} + size_t pdo::sizeInBytes() const { size_t ans = 0; @@ -173,6 +221,18 @@ int ec_master::activate() return -1; ++i; } + { + std::ofstream out(rt_ipc_dir + "/" + rt_ipc_name + "_slaves.json"); + if (!out.is_open()) { + std::cerr << "could not dump json.\n"; + return -1; + } + out << "{\n \"slaves\": "; + map2Json(out, slaves, [](std::ostream& out, const ec_slave_config& slave) { + slave.dumpJson(out, 8); + }, 4); + out << "\n}\n"; + } return rtipc_prepare(rt_ipc.get()); } @@ -353,7 +413,7 @@ static std::vector getPermutationVector(size_t count) return ans; } -ec_master::ec_master() : rt_ipc(rtipc_create(getName(), "/tmp/FakeTaxi")) +ec_master::ec_master() : rt_ipc_dir("/tmp/FakeTaxi"), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())) { } @@ -539,3 +599,25 @@ double ecrt_read_lreal(const void *data) memcpy(&ans, data, sizeof(ans)); return ans; } + +void ec_slave_config::dumpJson(std::ostream &out, int indent) const +{ + out << "{\n"; + indent += 4; + add_spaces(out, indent); + out << "\"vendor_id\": " << std::dec << vendor_id << ",\n"; + add_spaces(out, indent); + out << "\"product_id\": " << product_code << ",\n"; + add_spaces(out, indent); + out << "\"sdos\": "; + map2Json(out, sdos, [](std::ostream &out, const std::basic_string &value) + { + out << "\"0x"; + for (const auto s : value) { + out << std::hex << std::setfill('0') << std::setw(2) << (unsigned)s; + } + out << '"'; }, indent); + out << '\n'; + add_spaces(out, indent - 4); + out << "}"; +} diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h index a8fd813d..0b0b2d29 100644 --- a/fake_lib/fakeethercat.h +++ b/fake_lib/fakeethercat.h @@ -132,6 +132,8 @@ struct ec_slave_config : address(address), vendor_id(vendor_id), product_code(product_code) { } + + void dumpJson(std::ostream &out, int indent) const; }; struct ec_domain @@ -198,6 +200,8 @@ private: } }; + std::string rt_ipc_dir; + std::string rt_ipc_name; std::list domains; std::map slaves; std::unique_ptr rt_ipc; From c2c3d56a2c9b1aa967208b516297f0d980a0c139 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 18 Jul 2024 12:02:53 +0200 Subject: [PATCH 11/23] Add README to fakelib --- Doxyfile.in | 1 + README.md | 7 +++ fake_lib/README.md | 129 ++++++++++++++++++++++++++++++++++++++ fake_lib/fakeethercat.cpp | 60 +++++++++++++++--- fake_lib/fakeethercat.h | 5 +- lib/libethercat.map | 3 + master/doxygen.c | 3 + 7 files changed, 198 insertions(+), 10 deletions(-) create mode 100644 fake_lib/README.md diff --git a/Doxyfile.in b/Doxyfile.in index 304a670a..68edea77 100644 --- a/Doxyfile.in +++ b/Doxyfile.in @@ -658,6 +658,7 @@ WARN_LOGFILE = INPUT = @top_srcdir@/master \ @top_srcdir@/include \ + @top_srcdir@/fake_lib/README.md \ @top_srcdir@/devices/ecdev.h \ @top_builddir@/device_drivers.md diff --git a/README.md b/README.md index 11411cf3..3ec5876a 100644 --- a/README.md +++ b/README.md @@ -72,6 +72,13 @@ http://etherlab.org/en/ethercat/hardware.php. See the [install file](INSTALL.md). +# Dry-run and Field Simulation + +A limited set of the userspace API is available in `libfakeethercat`, +a library which can be used to run an userspace application +without an EtherCAT maser or with emulated EtherCAT slaves. +Please find some details [here](fake_lib/README.md). + # Realtime and Tuning Realtime patches for the Linux kernel are supported, but not required. The diff --git a/fake_lib/README.md b/fake_lib/README.md new file mode 100644 index 00000000..de104f2e --- /dev/null +++ b/fake_lib/README.md @@ -0,0 +1,129 @@ +FakeEtherCAT Library {#libfakeethercat} +==================== + +Libfakeethercat is a userspace library which has the same API as +the EtherCAT master interface library libethercat. +Libfakeethercat can be used to spin up your RT application in a dry-run mode, +without any master configured or slaves attached. +Furthermore, it is possible to emulate EtherCAT slaves on process data level +by running two applications back to back. + +## Supported features + +Currently, only a very limited subset of libethercat functionality is supported: + + - Creating master and domain instances + - Activating master, `send`/`receive`. + - Processing and queuing domains + - Configuring PDOs + - Configuring SDOs using `ecrt_slave_config_sdo*` + +The SDO config does not do anything, +but when activating the master the SDO config will +be dumped into a JSON file. + +ecrt_master_state() and ecrt_domain_state() both return states as if +the bus works without errors. +So currenty, a bus error cannot be simulated. + +## How to build + +[RtIPC](https://gitlab.com/etherlab.org/rtipc) is needed. +Simply pass `--enable-fakeuserlib` to your `./configure` call +and the library will be built for you. + +## How to set up dry run mode + +### Redirect library loading + +To avoid recompiling your application, +we will use `LD_LIBRARY_PATH` to load `libfakeethercat` instead of `libethercat`. + +```sh +# pick a location for an empty directory +export MY_LIB_LOCATION=$HOME/fake_lib64 +# create that directory +mkdir -p $MY_LIB_LOCATION +# create a symlink to libfakeethercat +# assuming SOVERSION is 1 +# debian users, please use /usr/lib/x86_64-linux-gnu/libfakeethercat.so.1 +ln -s /usr/lib64/libfakeethercat.so.1 $MY_LIB_LOCATION/libethercat.so.1 +# use MY_LIB_LOCATION to load libraries first +export LD_LIBRARY_PATH=$MY_LIB_LOCATION +# check whether everything is done right +ldd my_application | grep ethercat + libethercat.so.1 => /home/vh/fake_lib64/libethercat.so.1 (0x00007fa5a5c59000) +``` + +### Set up FakeEtherCAT Home + +RtIPC needs a place to store its configuration. +Set `FAKE_EC_HOMEDIR` environment variabe to a path to an empty directory, +for instance `/tmp/FakeEtherCAT`. +`FAKE_EC_NAME` can be set to a useful name of your application, +default is `FakeEtherCAT`. + +```sh +export FAKE_EC_HOMEDIR=/tmp/FakeEtherCAT +rm -rf $FAKE_EC_HOMEDIR +mkdir -p $FAKE_EC_HOMEDIR +``` + +### Spin up your application + +Now it's time to simply launch your application. +You will notice that the PDO configuration will be dumped at stderr. +The path displayed is the path of the RtIPC variable in the following format: +`$FAKE_EC_PREFIX/$DOMAIN_ID/$ALIAS$POSITION/$PDO`. + +## How to emulate EtherCAT slaves + +Let's say you'd like to build virtual EtherCAT slaves to emulate your field. +Libfakeethercat makes that possible with the help of RtIPC. + +### Building a simulator + +Your field emulator simply has to swap the sync manager direction setting +(EC_DIR_INPUT and EC_DIR_OUTPUT) in ec_sync_info_t. +Libfakeethercat instances use shared memory, provided by RtIPC, +to exchange process data. +The direction setting decides which instance writes and which reads from +shared memory. + +For instance, emulating a digial output works in the following way: +Create another real time application with the same slave information +as your control application. +Then, replace all EC_DIR_INPUT with EC_DIR_OUTPUT and vice versa. +Now, remember to read process data instead of writing it, and vice versa. +So, your EL2004 digital out will be read by your simulating application +and has PDO object 0x1600 ff. configured with Sync Manager 2 as EC_DIR_INPUT. + +[EtherLab](https://gitlab.com/etherlab.org/etherlab) will be adapted soon +to provide a convenient way to build an entire simulator using SIMULINK. + +### Start your application + +First, do all the steps explained above to run your +control application in dry run mode. +Then, in another shell, do the same thing with your simulator, +but do not remove the `FAKE_EC_HOMEDIR` directory and +pick another `FAKE_EC_NAME`. + +Carefully watch the PDO configuration on stderr and compare them. +All paths configured as Output on the control application have to +be configured as Input on your simulator and vice versa. +If you use multiple domains and there is a mismatch of the domain IDs, +set `FAKE_EC_DOMAIN_PERMUTATION` to a space-separated list of integers to +permutate the domain IDs of one application. +`FAKE_EC_DOMAIN_PERMUTATION="0 1"` swaps domains 0 and 1, for instance. + +Finally, your control application needs to be restarted +so it can find the RtIPC variables which contains the process data of the +simulator. + +## Environment variables + + - FAKE_EC_DOMAIN_PERMUTATION: Permutate the domain IDs, useful to match control and simulation applications. + - FAKE_EC_HOMEDIR: Directory for RtIPC builletin board and SDO json files + - FAKE_EC_NAME: Will be used for naming RtIPC config and SDO json file + - FAKE_EC_PREFIX: Prefix for RtIPC variables, useful to run multiple simulators side by side. diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 8a9f77ec..331db186 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -103,7 +103,7 @@ Offset pdo::findEntry(uint16_t idx, uint8_t subindex) const return NotFound; } -ec_domain::ec_domain(rtipc *rtipc, const char *prefix) : rt_group(rtipc_create_group(rtipc, 1.0)), prefix(prefix) +ec_domain::ec_domain(rtipc *rtipc, const char *prefix, ec_master_t *master) : rt_group(rtipc_create_group(rtipc, 1.0)), prefix(prefix), master(master) { } @@ -223,14 +223,14 @@ int ec_master::activate() } { std::ofstream out(rt_ipc_dir + "/" + rt_ipc_name + "_slaves.json"); - if (!out.is_open()) { + if (!out.is_open()) + { std::cerr << "could not dump json.\n"; return -1; } out << "{\n \"slaves\": "; - map2Json(out, slaves, [](std::ostream& out, const ec_slave_config& slave) { - slave.dumpJson(out, 8); - }, 4); + map2Json(out, slaves, [](std::ostream &out, const ec_slave_config &slave) + { slave.dumpJson(out, 8); }, 4); out << "\n}\n"; } return rtipc_prepare(rt_ipc.get()); @@ -266,9 +266,16 @@ ec_domain_t *ecrt_master_create_domain( return master->createDomain(); } +static const char *getPrefix() +{ + if (const auto ans = getenv("FAKE_EC_PREFIX")) + return ans; + return "/FakeEtherCAT"; +} + ec_domain *ec_master::createDomain() { - domains.emplace_back(rt_ipc.get(), "/FakeTaxi"); + domains.emplace_back(rt_ipc.get(), getPrefix(), this); return &domains.back(); } @@ -386,7 +393,16 @@ static const char *getName() { return ans; } - return "FakeTaxi"; + return "FakeEtherCAT"; +} + +static const char *getRtIpcDir() +{ + if (const auto ans = getenv("FAKE_EC_HOMEDIR")) + { + return ans; + } + return "/tmp/FakeEtherCAT"; } static std::vector getPermutationVector(size_t count) @@ -396,7 +412,7 @@ static std::vector getPermutationVector(size_t count) { ans.push_back(i); } - const auto spec = getenv("FAKE_DOMAIN_PERMUTATION"); + const auto spec = getenv("FAKE_EC_DOMAIN_PERMUTATION"); if (!spec) return ans; std::istringstream is(spec); @@ -413,7 +429,7 @@ static std::vector getPermutationVector(size_t count) return ans; } -ec_master::ec_master() : rt_ipc_dir("/tmp/FakeTaxi"), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())) +ec_master::ec_master() : rt_ipc_dir(getRtIpcDir()), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())) { } @@ -494,6 +510,32 @@ int ecrt_slave_config_pdos( return 0; } +int ecrt_domain_reg_pdo_entry_list( + ec_domain_t *domain, /**< Domain. */ + const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO + registrations. */ +) +{ + const ec_pdo_entry_reg_t *reg; + ec_slave_config_t *sc; + int ret; + + for (reg = pdo_entry_regs; reg->index; reg++) + { + if (!(sc = ecrt_master_slave_config(domain->getMaster(), reg->alias, + reg->position, reg->vendor_id, reg->product_code))) + return -ENOENT; + + if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, + reg->subindex, domain, reg->bit_position)) < 0) + return ret; + + *reg->offset = ret; + } + + return 0; +} + int ecrt_slave_config_reg_pdo_entry( ec_slave_config_t *sc, /**< Slave configuration. */ uint16_t entry_index, /**< Index of the PDO entry to register. */ diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h index 0b0b2d29..1a06dd59 100644 --- a/fake_lib/fakeethercat.h +++ b/fake_lib/fakeethercat.h @@ -166,11 +166,12 @@ private: std::vector mapped_pdos; rtipc_group *rt_group; const char *prefix; + ec_master_t *master; bool activated_ = false; size_t numSlaves = 0; public: - explicit ec_domain(struct rtipc *rtipc, const char *prefix); + explicit ec_domain(struct rtipc *rtipc, const char *prefix, ec_master_t *master); uint8_t *getData() const { @@ -187,6 +188,8 @@ public: ssize_t map(ec_slave_config const &config, unsigned int syncManager, uint16_t pdo_index); + + ec_master_t *getMaster() const { return master; } }; struct ec_master diff --git a/lib/libethercat.map b/lib/libethercat.map index 759e6b58..4f074c26 100644 --- a/lib/libethercat.map +++ b/lib/libethercat.map @@ -82,6 +82,9 @@ LIBETHERCAT_1.5.2 { ecrt_voe_handler_received_header; ecrt_voe_handler_send_header; ecrt_voe_handler_write; + local: + # Hide all C++ symbols in libfakeethercat + _Z*; }; LIBETHERCAT_1.5.3 { diff --git a/master/doxygen.c b/master/doxygen.c index 156f9175..2446f707 100644 --- a/master/doxygen.c +++ b/master/doxygen.c @@ -40,6 +40,9 @@ A list of all native network card drivers can be found here. + A second userspace library can be used for a dry-run mode + or simulating EtherCAT slaves. + For information how to build and install, see the INSTALL file in the source root. From fe08cb07418a3954dc74cc77ee09bab9240e28ef Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 18 Jul 2024 12:07:17 +0200 Subject: [PATCH 12/23] build fakelib in CI. --- .gitlab-ci.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index fff35b6f..d91e0dc8 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -51,14 +51,14 @@ build: script: - ./bootstrap - - ./configure --with-linux-dir=/usr/src/linux-obj/$(uname -i)/default --enable-tty --with-devices=2 --enable-ccat + - ./configure --with-linux-dir=/usr/src/linux-obj/$(uname -i)/default --enable-tty --with-devices=2 --enable-ccat --enable-fakeuserlib - make -j8 all modules - make -C lib symbol-version-check - make DISTCHECK_CONFIGURE_FLAGS="--with-linux-dir=/usr/src/linux-obj/$(uname -i)/default" distcheck - make dist - mkdir test_dist && cd test_dist && tar xzf ../ethercat-*.tar.gz && cd ethercat-*/ - mkdir build && cd build - - ../configure --with-linux-dir=/usr/src/linux-obj/$(uname -i)/default --disable-8139too --enable-tty --with-devices=2 --enable-ccat + - ../configure --with-linux-dir=/usr/src/linux-obj/$(uname -i)/default --disable-8139too --enable-tty --with-devices=2 --enable-ccat --enable-fakeuserlib - make -j8 all modules artifacts: From 86656eb61a70212c64cfa8186c35eaf95a325a54 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 18 Jul 2024 12:36:02 +0200 Subject: [PATCH 13/23] switch to 15.4 --- .gitlab-ci.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index d91e0dc8..d0eb9c81 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -1,5 +1,5 @@ image: - registry.gitlab.com/etherlab.org/build-container-factory/leap-15.3:linux-syms + registry.gitlab.com/etherlab.org/build-container-factory/leap-15.4:linux-syms stages: - build @@ -116,7 +116,7 @@ doxygen: # All PDF files in this directory will be collected. pdf: stage: doc - image: registry.gitlab.com/etherlab.org/build-container-factory/leap-15.3:texlive + image: registry.gitlab.com/etherlab.org/build-container-factory/leap-15.4:texlive script: - cd documentation - git show -s --format="\def\revision{%h}\def\gitversion{%(describe)}\def\gittag{%(describe:abbrev=0)}\def\gitauthor{%an}\def\isodate#1-#2-#3x{\day=#3 \month=#2 \year=#1}\isodate %csx" HEAD > git.tex From b5c7527990dcc2eec2b417e1425d901c0f67ec6d Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Thu, 18 Jul 2024 13:34:28 +0200 Subject: [PATCH 14/23] fix pdf job dependencies. --- .gitlab-ci.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index d0eb9c81..57de4fc5 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -115,6 +115,9 @@ doxygen: # It must be named 'pdf' and must produce a 'pdf' directory as an artifact. # All PDF files in this directory will be collected. pdf: + needs: + - job: commands + artifacts: true stage: doc image: registry.gitlab.com/etherlab.org/build-container-factory/leap-15.4:texlive script: From 45e8b098d796768b01da14b41fc7420371cbd1eb Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 19 Jul 2024 11:51:17 +0200 Subject: [PATCH 15/23] add multi-master support to fakelib. --- fake_lib/README.md | 2 +- fake_lib/fakeethercat.cpp | 6 +++--- fake_lib/fakeethercat.h | 4 +++- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/fake_lib/README.md b/fake_lib/README.md index de104f2e..fc5d0805 100644 --- a/fake_lib/README.md +++ b/fake_lib/README.md @@ -74,7 +74,7 @@ mkdir -p $FAKE_EC_HOMEDIR Now it's time to simply launch your application. You will notice that the PDO configuration will be dumped at stderr. The path displayed is the path of the RtIPC variable in the following format: -`$FAKE_EC_PREFIX/$DOMAIN_ID/$ALIAS$POSITION/$PDO`. +`$FAKE_EC_PREFIX/$MASTER_ID/$DOMAIN_ID/$ALIAS$POSITION/$PDO`. ## How to emulate EtherCAT slaves diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 331db186..97b78bb8 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -118,7 +118,7 @@ int ec_domain::activate(int domain_id) slaves.insert(pdo.slave_address.getCombined()); void *rt_pdo = nullptr; char buf[512]; - const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%08X/%04X", prefix, domain_id, pdo.slave_address.getCombined(), pdo.pdo_index); + const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%d/%08X/%04X", prefix, master->getId(), domain_id, pdo.slave_address.getCombined(), pdo.pdo_index); if (fmt < 0 || fmt >= (int)sizeof(buf)) { return -ENOBUFS; @@ -384,7 +384,7 @@ ec_master_t *ecrt_request_master( unsigned int master_index /**< Index of the master to request. */ ) { - return new ec_master(); + return new ec_master(master_index); } static const char *getName() @@ -429,7 +429,7 @@ static std::vector getPermutationVector(size_t count) return ans; } -ec_master::ec_master() : rt_ipc_dir(getRtIpcDir()), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())) +ec_master::ec_master(int id) : rt_ipc_dir(getRtIpcDir()), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())), id_(id) { } diff --git a/fake_lib/fakeethercat.h b/fake_lib/fakeethercat.h index 1a06dd59..71bd21dc 100644 --- a/fake_lib/fakeethercat.h +++ b/fake_lib/fakeethercat.h @@ -208,14 +208,16 @@ private: std::list domains; std::map slaves; std::unique_ptr rt_ipc; + int id_; public: - ec_master(); + explicit ec_master(int id); int activate(); ec_domain *createDomain(); int getNoSlaves() const { return slaves.size(); } + int getId() const { return id_; } ec_slave_config_t *slave_config( uint16_t alias, /**< Slave alias. */ From 1d858d8b3e69d560f4695079ec6904c720f934d5 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Mon, 22 Jul 2024 11:43:51 +0200 Subject: [PATCH 16/23] Fix doxygen wording. --- master/doxygen.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/master/doxygen.c b/master/doxygen.c index 2446f707..a036af2c 100644 --- a/master/doxygen.c +++ b/master/doxygen.c @@ -41,7 +41,7 @@ here. A second userspace library can be used for a dry-run mode - or simulating EtherCAT slaves. + or simulating Process Data. For information how to build and install, see the INSTALL file in the source root. From f1349ead07ff2cb49e81352a32d8fdc7a3f96b32 Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Tue, 23 Jul 2024 13:33:28 +0200 Subject: [PATCH 17/23] Add reference to EtherLab for swap_io. --- fake_lib/README.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/fake_lib/README.md b/fake_lib/README.md index fc5d0805..b41720fb 100644 --- a/fake_lib/README.md +++ b/fake_lib/README.md @@ -98,8 +98,12 @@ Now, remember to read process data instead of writing it, and vice versa. So, your EL2004 digital out will be read by your simulating application and has PDO object 0x1600 ff. configured with Sync Manager 2 as EC_DIR_INPUT. -[EtherLab](https://gitlab.com/etherlab.org/etherlab) will be adapted soon -to provide a convenient way to build an entire simulator using SIMULINK. +[EtherLab](https://gitlab.com/etherlab.org/etherlab) provides +a convenient way to build an entire simulator using SIMULINK since +Version 2.4.0. +Run `web(etherlab_help_path('swap_io.html'), '-helpbrowser')` +in your MATLAB shell to read more about how to set up a +Process Data simulator. ### Start your application From 3e3b938c2fe950d68c608ef47fff06d7b3a3f54f Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 26 Jul 2024 09:49:18 +0200 Subject: [PATCH 18/23] Version bump to 1.6.1 --- NEWS | 4 ++++ configure.ac | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/NEWS b/NEWS index 24488b22..fb324f70 100644 --- a/NEWS +++ b/NEWS @@ -4,6 +4,10 @@ vim: spelllang=en spell tw=78 ------------------------------------------------------------------------------- +Changes in 1.6.1: + +* Added libfakeethercat to simulate Process Data of EtherCAT Slaves. + Changes in 1.6.0: * Added all native Ethernet drivers for kernels 5.14 and 6.1. diff --git a/configure.ac b/configure.ac index 22007635..9ae82e4d 100644 --- a/configure.ac +++ b/configure.ac @@ -31,7 +31,7 @@ AC_PREREQ(2.59) # - Update version number below # - make dist-bzip2 # -AC_INIT([ethercat],[1.6.0],[fp@igh.de]) +AC_INIT([ethercat],[1.6.1],[fp@igh.de]) AC_CONFIG_AUX_DIR([autoconf]) AM_INIT_AUTOMAKE([-Wall -Wno-override -Werror dist-bzip2 subdir-objects foreign]) m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])]) From 185674e2b4b76451d7621dad7ee76b853a2e5d9c Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 26 Jul 2024 10:45:54 +0200 Subject: [PATCH 19/23] Add ecrt_master_scan_progress to fake lib. --- fake_lib/fakeethercat.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 97b78bb8..71db3baf 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -287,6 +287,16 @@ int ecrt_master_receive( return 0; } +int ecrt_master_scan_progress( + ec_master_t *master, /**< EtherCAT master */ + ec_master_scan_progress_t *progress /**< Structure that will output + the progress information. */ +) +{ + progress->scan_index = progress->slave_count = master->getNoSlaves(); + return 0; +} + int ecrt_master_send( ec_master_t *master /**< EtherCAT master. */ ) From 0f9ad4c834b376b5e88dafb5d883c534f0d2d67d Mon Sep 17 00:00:00 2001 From: Bjarne von Horn Date: Fri, 26 Jul 2024 10:54:24 +0200 Subject: [PATCH 20/23] Add more methods to fake_lib for EtherLab master block --- fake_lib/fakeethercat.cpp | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 71db3baf..4932d588 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -278,12 +278,31 @@ ec_domain *ec_master::createDomain() domains.emplace_back(rt_ipc.get(), getPrefix(), this); return &domains.back(); } +int ecrt_master_link_state( + const ec_master_t *master, /**< EtherCAT master. */ + unsigned int dev_idx, /**< Index of the device (0 = main device, 1 = + first backup device, ...). */ + ec_master_link_state_t *state /**< Structure to store the information. + */ +) +{ + state->slaves_responding = master->getNoSlaves(); + state->al_states = 4; + state->link_up = 1; + return 0; +} int ecrt_master_receive( ec_master_t *master /**< EtherCAT master. */ ) { - std::cout << '\r'; + return 0; +} + +int ecrt_master_reset( + ec_master_t *master /**< EtherCAT master. */ +) +{ return 0; } @@ -301,7 +320,6 @@ int ecrt_master_send( ec_master_t *master /**< EtherCAT master. */ ) { - std::cout << std::flush; return 0; } From 04064099e9a8220fcc753d121611135687403bbc Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Fri, 26 Jul 2024 11:57:02 +0200 Subject: [PATCH 21/23] Updated doxyfile to 1.11.0. --- Doxyfile.in | 2946 ++++++++++++++++++++++++++++++++++----------------- 1 file changed, 1976 insertions(+), 970 deletions(-) diff --git a/Doxyfile.in b/Doxyfile.in index 68edea77..0a649881 100644 --- a/Doxyfile.in +++ b/Doxyfile.in @@ -1,110 +1,157 @@ -# Doxyfile 1.8.1 +# Doxyfile 1.11.0 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project. # -# All text after a hash (#) is considered a comment and will be ignored. +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. # The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" "). +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables or CMake type +# replacement variables: +# doxygen -x_noenv [configFile] #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all # text before the first occurrence of this tag. Doxygen uses libiconv (or the # iconv built into libc) for the transcoding. See -# http://www.gnu.org/software/libiconv for the list of possible encodings. +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. +# The default value is: UTF-8. DOXYFILE_ENCODING = UTF-8 -# The PROJECT_NAME tag is a single word (or sequence of words) that should -# identify the project. Note that if you do not use Doxywizard you need -# to put quotes around the project name if it contains spaces. +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. PROJECT_NAME = "IgH EtherCAT Master" -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. PROJECT_NUMBER = @VERSION@ # Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer -# a quick idea about the purpose of the project. Keep the description short. +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. PROJECT_BRIEF = -# With the PROJECT_LOGO tag one can specify an logo or icon that is -# included in the documentation. The maximum height of the logo should not -# exceed 55 pixels and the maximum width should not exceed 200 pixels. -# Doxygen will copy the logo to the output directory. +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. PROJECT_LOGO = @top_srcdir@/doxygen-layout/images/igh+logo.svg -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location -# where doxygen was started. If left blank the current directory will be used. +# With the PROJECT_ICON tag one can specify an icon that is included in the tabs +# when the HTML document is shown. Doxygen will copy the logo to the output +# directory. + +PROJECT_ICON = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. OUTPUT_DIRECTORY = doxygen-output -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would -# otherwise cause performance problems for the file system. +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096 +# sub-directories (in 2 levels) under the output directory of each output format +# and will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to +# control the number of sub-directories. +# The default value is: NO. CREATE_SUBDIRS = NO +# Controls the number of sub-directories that will be created when +# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every +# level increment doubles the number of directories, resulting in 4096 +# directories at level 8 which is the default and also the maximum value. The +# sub-directories are organized in 2 levels, the first level always has a fixed +# number of 16 directories. +# Minimum value: 0, maximum value: 8, default value: 8. +# This tag requires that the tag CREATE_SUBDIRS is set to YES. + +CREATE_SUBDIRS_LEVEL = 8 + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, -# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, -# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English -# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, -# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, -# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian, +# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English +# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek, +# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with +# English messages), Korean, Korean-en (Korean with English messages), Latvian, +# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, +# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, +# Swedish, Turkish, Ukrainian and Vietnamese. +# The default value is: English. OUTPUT_LANGUAGE = English -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). -# Set to NO to disable this. +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. BRIEF_MEMBER_DESC = YES -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. +# The default value is: YES. REPEAT_BRIEF = YES -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" -# "represents" "a" "an" "the" +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. ABBREVIATE_BRIEF = # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief +# doxygen will generate a detailed section even if there is only a brief # description. +# The default value is: NO. ALWAYS_DETAILED_SEC = NO @@ -112,549 +159,785 @@ ALWAYS_DETAILED_SEC = NO # inherited members of a class in the documentation of that class as if those # members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. +# The default value is: NO. INLINE_INHERITED_MEMB = NO -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set -# to NO the shortest path that makes the file name unique will be used. +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. FULL_PATH_NAMES = NO -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the -# path to strip. +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. STRIP_FROM_PATH = -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that -# are normally passed to the compiler using the -I flag. +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. STRIP_FROM_INC_PATH = -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful if your file system -# doesn't support long names like on DOS, Mac, or CD-ROM. +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. SHORT_NAMES = NO -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like regular Qt-style comments -# (thus requiring an explicit @brief command for a brief description.) +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. JAVADOC_AUTOBRIEF = YES -# If the QT_AUTOBRIEF tag is set to YES then Doxygen will -# interpret the first line (until the first dot) of a Qt-style -# comment as the brief description. If set to NO, the comments -# will behave just like regular Qt-style comments (thus requiring -# an explicit \brief command for a brief description.) +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. QT_AUTOBRIEF = NO -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed -# description. Set this tag to YES if you prefer the old behaviour instead. +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. MULTILINE_CPP_IS_BRIEF = YES -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it -# re-implements. +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. INHERIT_DOCS = YES -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will -# be part of the file/class/namespace that contains it. +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. SEPARATE_MEMBER_PAGES = NO -# The TAB_SIZE tag can be used to set the number of spaces in a tab. -# Doxygen uses this value to replace tabs by spaces in code fragments. +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. TAB_SIZE = 4 -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". -# You can put \n's in the value part of an alias to insert newlines. +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:^^" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) -ALIASES = \ - "apiusage{1}=@par API Usage^^@ref apiusage \"\1\"" +ALIASES = "apiusage{1}=@par API Usage^^@ref apiusage \"\1\"" -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding -# "class=itcl::class" will allow you to use the command class in the -# itcl::class meaning. - -TCL_SUBST = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list -# of all members will be omitted, etc. +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. OPTIMIZE_OUTPUT_FOR_C = YES -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java -# sources only. Doxygen will then generate output that is more tailored for -# Java. For instance, namespaces will be presented as packages, qualified -# scopes will look different, etc. +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. OPTIMIZE_OUTPUT_JAVA = NO # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources only. Doxygen will then generate output that is more tailored for -# Fortran. +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. OPTIMIZE_FOR_FORTRAN = NO # Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for -# VHDL. +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. OPTIMIZE_OUTPUT_VHDL = NO +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + # Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given extension. -# Doxygen has a built-in mapping, but you can override or extend it using this -# tag. The format is ext=language, where ext is a file extension, and language -# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, -# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make -# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C -# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions -# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. EXTENSION_MAPPING = -# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all -# comments according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you -# can mix doxygen, HTML, and XML commands with Markdown formatting. -# Disable only in case of backward compatibilities issues. +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. MARKDOWN_SUPPORT = YES +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 6. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 6 + +# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to +# generate identifiers for the Markdown headings. Note: Every identifier is +# unique. +# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a +# sequence number starting at 0 and GITHUB use the lower case version of title +# with any whitespace replaced by '-' and punctuation characters removed. +# The default value is: DOXYGEN. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +MARKDOWN_ID_STYLE = DOXYGEN + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should -# set this tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. -# func(std::string) {}). This also makes the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also makes the inheritance and +# collaboration diagrams that involve STL classes more complete and accurate. +# The default value is: NO. BUILTIN_STL_SUPPORT = NO # If you use Microsoft's C++/CLI language, you should set this option to YES to # enable parsing support. +# The default value is: NO. CPP_CLI_SUPPORT = NO -# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. -# Doxygen will parse them like normal C++ but will assume all classes use public -# instead of private inheritance when no explicit protection keyword is present. +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software) sources only. Doxygen will parse +# them like normal C++ but will assume all classes use public instead of private +# inheritance when no explicit protection keyword is present. +# The default value is: NO. SIP_SUPPORT = NO -# For Microsoft's IDL there are propget and propput attributes to indicate getter -# and setter methods for a property. Setting this option to YES (the default) -# will make doxygen replace the get and set methods by a property in the -# documentation. This will only work if the methods are indeed getting or -# setting a simple type. If this is not the case, or you want to show the -# methods anyway, you should set this option to NO. +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. IDL_PROPERTY_SUPPORT = YES # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first +# tag is set to YES then doxygen will reuse the documentation of the first # member in the group (if any) for the other members of the group. By default # all members of a group must be documented explicitly. +# The default value is: NO. DISTRIBUTE_GROUP_DOC = NO -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using -# the \nosubgrouping command. +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. SUBGROUPING = YES -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and -# unions are shown inside the group in which they are included (e.g. using -# @ingroup) instead of on a separate page (for HTML and Man pages) or -# section (for LaTeX and RTF). +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. INLINE_GROUPED_CLASSES = NO -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and -# unions with only public data fields will be shown inline in the documentation -# of the scope in which they are defined (i.e. file, namespace, or group -# documentation), provided this scope is documented. If set to NO (the default), -# structs, classes, and unions are shown on a separate page (for HTML and Man -# pages) or section (for LaTeX and RTF). +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. INLINE_SIMPLE_STRUCTS = NO -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So # typedef struct TypeS {} TypeT, will appear in the documentation as a struct # with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound # types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. TYPEDEF_HIDES_STRUCT = NO -# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to -# determine which symbols to keep in memory and which to flush to disk. -# When the cache is full, less often used symbols will be written to disk. -# For small to medium size projects (<1000 input files) the default value is -# probably good enough. For larger projects a too small cache size can cause -# doxygen to be busy swapping symbols to and from disk most of the time -# causing a significant performance penalty. -# If the system has enough physical memory increasing the cache will improve the -# performance by keeping more symbols in memory. Note that the value works on -# a logarithmic scale so increasing the size by one will roughly double the -# memory usage. The cache size is given by this formula: -# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, -# corresponding to a cache size of 2^16 = 65536 symbols. - -SYMBOL_CACHE_SIZE = 0 - -# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be -# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given -# their name and scope. Since this can be an expensive process and often the -# same symbol appear multiple times in the code, doxygen keeps a cache of -# pre-resolved symbols. If the cache is too small doxygen will become slower. -# If the cache is too large, memory is wasted. The cache size is given by this -# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0, -# corresponding to a cache size of 2^16 = 65536 symbols. +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. LOOKUP_CACHE_SIZE = 0 +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +# If the TIMESTAMP tag is set different from NO then each generated page will +# contain the date or date and time when the page was generated. Setting this to +# NO can help when comparing the output of multiple runs. +# Possible values are: YES, NO, DATETIME and DATE. +# The default value is: NO. + +TIMESTAMP = NO + #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. EXTRACT_ALL = NO -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. EXTRACT_PRIVATE = YES -# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal scope will be included in the documentation. +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. EXTRACT_PACKAGE = NO -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. EXTRACT_STATIC = YES -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. EXTRACT_LOCAL_CLASSES = YES -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. EXTRACT_LOCAL_METHODS = YES # If this flag is set to YES, the members of anonymous namespaces will be # extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default -# anonymous namespaces are hidden. +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. EXTRACT_ANON_NSPACES = NO -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. HIDE_UNDOC_MEMBERS = NO -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# will also hide undocumented C++ concepts if enabled. This option has no effect +# if EXTRACT_ALL is enabled. +# The default value is: NO. HIDE_UNDOC_CLASSES = NO -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# declarations. If set to NO, these declarations will be included in the # documentation. +# The default value is: NO. HIDE_FRIEND_COMPOUNDS = NO -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. HIDE_IN_BODY_DOCS = NO -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# Possible values are: SYSTEM, NO and YES. +# The default value is: SYSTEM. CASE_SENSE_NAMES = YES -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. HIDE_SCOPE_NAMES = NO -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. SHOW_INCLUDE_FILES = NO -# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen -# will list include files with double quotes in the documentation -# rather than with sharp brackets. +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. FORCE_LOCAL_INCLUDES = NO -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. INLINE_INFO = YES -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. SORT_MEMBER_DOCS = NO -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. SORT_BRIEF_DOCS = NO -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO -# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. SORT_MEMBERS_CTORS_1ST = NO -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) -# the group names will appear in their defined order. +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. SORT_GROUP_NAMES = NO -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. SORT_BY_SCOPE_NAME = NO -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to -# do proper type resolution of all parameters of a function it will reject a -# match between the prototype and the implementation of a member function even -# if there is only one candidate or it is obvious which candidate to choose -# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen -# will still accept a match between prototype and implementation in such cases. +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. STRICT_PROTO_MATCHING = NO -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. GENERATE_TODOLIST = YES -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. GENERATE_TESTLIST = NO -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. GENERATE_BUGLIST = NO -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. GENERATE_DEPRECATEDLIST= NO -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if sectionname ... \endif. +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. ENABLED_SECTIONS = -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or macro consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and macros in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. MAX_INITIALIZER_LINES = 30 -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the # list will mention the files that were used to generate the documentation. +# The default value is: YES. SHOW_USED_FILES = NO -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the -# Folder Tree View (if specified). The default is YES. +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. SHOW_FILES = YES -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. -# This will remove the Namespaces entry from the Quick Index -# and from the Folder Tree View (if specified). The default is YES. +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. SHOW_NAMESPACES = YES # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from # the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output -# is used as the file version. See the manual for examples. +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. FILE_VERSION_FILTER = # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed # by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. The create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. -# You can optionally specify a file name after the option, if omitted -# DoxygenLayout.xml will be used as the name of the layout file. +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. LAYOUT_FILE = -# The CITE_BIB_FILES tag can be used to specify one or more bib files -# containing the references data. This must be a list of .bib files. The -# .bib extension is automatically appended if omitted. Using this command -# requires the bibtex tool to be installed. See also -# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style -# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this -# feature you need bibtex and perl available in the search path. +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. CITE_BIB_FILES = #--------------------------------------------------------------------------- -# configuration options related to warning and progress messages +# Configuration options related to warning and progress messages #--------------------------------------------------------------------------- -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. QUIET = YES # The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. WARNINGS = YES -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. WARN_IF_UNDOCUMENTED = YES -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. +# The default value is: YES. WARN_IF_DOC_ERROR = YES -# The WARN_NO_PARAMDOC option can be enabled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of -# documentation. +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC +# The default value is: NO. WARN_NO_PARAMDOC = YES -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could -# be obtained via FILE_VERSION_FILTER) +# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about +# undocumented enumeration values. If set to NO, doxygen will accept +# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: NO. -WARN_FORMAT = "$file:$line: $text " +WARN_IF_UNDOC_ENUM_VAL = NO -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves +# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not +# write the warning messages in between other messages but write them at the end +# of a run, in case a WARN_LOGFILE is defined the warning messages will be +# besides being in the defined file also be shown at the end of a run, unless +# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case +# the behavior will remain as with the setting FAIL_ON_WARNINGS. +# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. + +WARN_LINE_FORMAT = "at line $line of file $file" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). WARN_LOGFILE = #--------------------------------------------------------------------------- -# configuration options related to the input files +# Configuration options related to the input files #--------------------------------------------------------------------------- -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. INPUT = @top_srcdir@/master \ @top_srcdir@/include \ @@ -663,32 +946,55 @@ INPUT = @top_srcdir@/master \ @top_builddir@/device_drivers.md # This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for -# the list of possible encodings. +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# See also: INPUT_FILE_ENCODING +# The default value is: UTF-8. INPUT_ENCODING = UTF-8 +# This tag can be used to specify the character encoding of the source files +# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify +# character encoding on a per file pattern basis. Doxygen will compare the file +# name with each pattern and apply the encoding instead of the default +# INPUT_ENCODING) if there is a match. The character encodings are a list of the +# form: pattern=encoding (like *.php=ISO-8859-1). +# See also: INPUT_ENCODING for further information on supported encodings. + +INPUT_FILE_ENCODING = + # If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh -# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py -# *.f90 *.f *.for *.vhd *.vhdl +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm, +# *.cpp, *.cppm, *.ccm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, +# *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, +# *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to +# be provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, +# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice. FILE_PATTERNS = -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. RECURSIVE = NO # The EXCLUDE tag can be used to specify files and/or directories that should be # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. +# # Note that relative paths are relative to the directory from which doxygen is # run. @@ -697,14 +1003,16 @@ EXCLUDE = # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or # directories that are symbolic links (a Unix file system feature) are excluded # from the input. +# The default value is: NO. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories -# for example use the pattern */test/* +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* EXCLUDE_PATTERNS = *.mod.c @@ -712,762 +1020,1298 @@ EXCLUDE_PATTERNS = *.mod.c # (namespaces, classes, functions, etc.) that should be excluded from the # output. The symbol name can be a fully qualified name, a word, or if the # wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test +# ANamespace::AClass, ANamespace::*Test EXCLUDE_SYMBOLS = -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). EXAMPLE_PATH = # If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. EXAMPLE_PATTERNS = # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. EXAMPLE_RECURSIVE = NO -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). IMAGE_PATH = # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. -# If FILTER_PATTERNS is specified, this tag will be -# ignored. +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that doxygen will use the data processed and written to standard output +# for further processing, therefore nothing else, like debug statements or used +# commands (so in case of a Windows batch file always use @echo OFF), should be +# written to standard output. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. -# Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. -# The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty or if -# non of the patterns match the file name, INPUT_FILTER is applied. +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. FILTER_SOURCE_FILES = NO # The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) -# and it is also possible to disable source filtering for a specific pattern -# using *.ext= (so without naming a filter). This option only has effect when -# FILTER_SOURCE_FILES is enabled. +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. FILTER_SOURCE_PATTERNS = +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +# The Fortran standard specifies that for fixed formatted Fortran code all +# characters from position 72 are to be considered as comment. A common +# extension is to allow longer lines before the automatic comment starts. The +# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can +# be processed before the automatic comment starts. +# Minimum value: 7, maximum value: 10000, default value: 72. + +FORTRAN_COMMENT_AFTER = 72 + #--------------------------------------------------------------------------- -# configuration options related to source browsing +# Configuration options related to source browsing #--------------------------------------------------------------------------- -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. SOURCE_BROWSER = YES -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# multi-line macros, enums or list initialized variables directly into the +# documentation. +# The default value is: NO. INLINE_SOURCES = NO -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C and C++ comments will always remain visible. +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. STRIP_CODE_COMMENTS = YES -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented -# functions referencing it will be listed. +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity all documented functions referencing it will be listed. +# The default value is: NO. REFERENCED_BY_RELATION = NO -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities -# called/used by that function will be listed. +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. REFERENCES_RELATION = NO -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will -# link to the source code. -# Otherwise they will link to the documentation. +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. REFERENCES_LINK_SOURCE = YES -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You -# will need version 4.8.6 or higher. +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see https://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. USE_HTAGS = NO -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index +# Configuration options related to the alphabetical class index #--------------------------------------------------------------------------- -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. ALPHABETICAL_INDEX = NO -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. +# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes) +# that should be ignored while generating the index headers. The IGNORE_PREFIX +# tag works for classes, function and member names. The entity will be placed in +# the alphabetical list under the first letter of the entity name that remains +# after removing the prefix. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. IGNORE_PREFIX = #--------------------------------------------------------------------------- -# configuration options related to the HTML output +# Configuration options related to the HTML output #--------------------------------------------------------------------------- -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. GENERATE_HTML = YES -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_OUTPUT = html -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_FILE_EXTENSION = .html -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. Note that when using a custom header you are responsible -# for the proper inclusion of any scripts and style sheets that doxygen -# needs, which is dependent on the configuration options used. -# It is advised to generate a default header using "doxygen -w html -# header.html footer.html stylesheet.css YourConfigFile" and then modify -# that header. Note that the header is subject to change so you typically -# have to redo this when upgrading to a newer version of doxygen or when -# changing the value of configuration settings such as GENERATE_TREEVIEW! +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_HEADER = @top_srcdir@/doxygen-layout/style/html_header.html -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_FOOTER = @top_srcdir@/doxygen-layout/style/html_footer.html -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own -# style sheet in the HTML output directory as well, or it will be erased! +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_STYLESHEET = -HTML_EXTRA_STYLESHEET = @top_srcdir@/doxygen-layout/style/custom.css \ - @top_srcdir@/doxygen-layout/style/custom_igh_theme.css +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# Note: Since the styling of scrollbars can currently not be overruled in +# Webkit/Chromium, the styling will be left out of the default doxygen.css if +# one or more extra stylesheets have been specified. So if scrollbar +# customization is desired it has to be added explicitly. For an example see the +# documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. +HTML_EXTRA_STYLESHEET = @top_srcdir@/doxygen-layout/style/custom.css \ + @top_srcdir@/doxygen-layout/style/custom_igh_theme.css # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or # other source files which should be copied to the HTML output directory. Note # that these files will be copied to the base HTML output directory. Use the -# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that -# the files will be copied as-is; there are no commands or markers available. +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_EXTRA_FILES = @top_srcdir@/doxygen-layout/images/etherlab-128.png \ @top_srcdir@/doxygen-layout/images/favicon.ico \ @top_srcdir@/doxygen-layout/images/favicon.svg -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. -# Doxygen will adjust the colors in the style sheet and background images -# according to this color. Hue is specified as an angle on a colorwheel, -# see http://en.wikipedia.org/wiki/Hue for more information. -# For instance the value 0 represents red, 60 is yellow, 120 is green, -# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. -# The allowed range is 0 to 359. +# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output +# should be rendered with a dark or light theme. +# Possible values are: LIGHT always generates light mode output, DARK always +# generates dark mode output, AUTO_LIGHT automatically sets the mode according +# to the user preference, uses light mode if no preference is set (the default), +# AUTO_DARK automatically sets the mode according to the user preference, uses +# dark mode if no preference is set and TOGGLE allows a user to switch between +# light and dark mode via a button. +# The default value is: AUTO_LIGHT. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE = AUTO_LIGHT + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_HUE = 220 -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of -# the colors in the HTML output. For a value of 0 the output will use -# grayscales only. A value of 255 will produce the most vivid colors. +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use gray-scales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_SAT = 100 -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to -# the luminance component of the colors in the HTML output. Values below -# 100 gradually make the output lighter, whereas values above 100 make -# the output darker. The value divided by 100 is the actual gamma applied, -# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, -# and 100 does not change the gamma. +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_COLORSTYLE_GAMMA = 80 -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting -# this to NO can help when comparing the output of multiple runs. +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. -HTML_TIMESTAMP = NO +HTML_DYNAMIC_MENUS = YES # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_DYNAMIC_SECTIONS = NO -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of -# entries shown in the various tree structured indices initially; the user -# can expand and collapse entries dynamically later on. Doxygen will expand -# the tree to such a level that at most the specified number of entries are -# visible (unless a fully collapsed tree already exceeds this amount). -# So setting the number of entries 1 will produce a full collapsed tree by -# default. 0 is a special value representing an infinite number of entries -# and will result in a full expanded tree by default. +# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be +# dynamically folded and expanded in the generated HTML source code. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_CODE_FOLDING = YES + +# If the HTML_COPY_CLIPBOARD tag is set to YES then doxygen will show an icon in +# the top right corner of code and text fragments that allows the user to copy +# its content to the clipboard. Note this only works if supported by the browser +# and the web page is served via a secure context (see: +# https://www.w3.org/TR/secure-contexts/), i.e. using the https: or file: +# protocol. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COPY_CLIPBOARD = YES + +# Doxygen stores a couple of settings persistently in the browser (via e.g. +# cookies). By default these settings apply to all HTML pages generated by +# doxygen across all projects. The HTML_PROJECT_COOKIE tag can be used to store +# the settings under a project specific key, such that the user preferences will +# be stored separately. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_PROJECT_COOKIE = + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. HTML_INDEX_NUM_ENTRIES = 100 -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_DOCSET = NO -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) -# can be grouped. +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_FEEDNAME = "Doxygen generated docs" -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen -# will append .docset to the name. +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_BUNDLE_ID = org.doxygen.Project -# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify # the documentation publisher. This should be a reverse domain-name style # string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_PUBLISHER_ID = org.doxygen.Publisher -# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. DOCSET_PUBLISHER_NAME = Publisher -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) -# of the generated HTML documentation. +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_HTMLHELP = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be # written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. CHM_FILE = -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. HHC_LOCATION = -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the main .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. GENERATE_CHI = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file -# content. +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. CHM_INDEX_ENCODING = -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. BINARY_TOC = NO -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. TOC_EXPAND = NO +# The SITEMAP_URL tag is used to specify the full URL of the place where the +# generated documentation will be placed on the server by the user during the +# deployment of the documentation. The generated sitemap is called sitemap.xml +# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL +# is specified no sitemap is generated. For information about the sitemap +# protocol see https://www.sitemaps.org +# This tag requires that the tag GENERATE_HTML is set to YES. + +SITEMAP_URL = + # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated -# that can be used as input for Qt's qhelpgenerator to generate a -# Qt Compressed Help (.qch) of the generated HTML documentation. +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_QHP = NO -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. -# The path specified is relative to the HTML output folder. +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. QCH_FILE = -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#namespace +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_NAMESPACE = org.doxygen.Project -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#virtual-folders +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_VIRTUAL_FOLDER = doc -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to -# add. For more information please see -# http://doc.trolltech.com/qthelpproject.html#custom-filters +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_NAME = -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see -# -# Qt Help Project / Custom Filters. +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's -# filter section matches. -# -# Qt Help Project / Filter Attributes. +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. QHP_SECT_FILTER_ATTRS = -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated -# .qhp file. +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. QHG_LOCATION = -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files -# will be generated, which together with the HTML files, form an Eclipse help -# plugin. To install this plugin and make it available under the help contents -# menu in Eclipse, the contents of the directory containing the HTML and XML -# files needs to be copied into the plugins directory of eclipse. The name of -# the directory within the plugins directory should be the same as -# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before -# the help appears. +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_ECLIPSEHELP = NO -# A unique identifier for the eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have -# this name. +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. ECLIPSE_DOC_ID = org.doxygen.Project -# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) -# at top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. Since the tabs have the same information as the -# navigation tree you can set this option to NO if you already set -# GENERATE_TREEVIEW to YES. +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. DISABLE_INDEX = NO # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. -# Since the tree basically has the same information as the tab index you -# could consider to set DISABLE_INDEX to NO when enabling this option. +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_TREEVIEW = YES -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values -# (range [0,1..20]) that doxygen will group on one line in the generated HTML -# documentation. Note that a value of 0 will completely suppress the enum -# values from appearing in the overview section. +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. ENUM_VALUES_PER_LINE = 4 -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. TREEVIEW_WIDTH = 250 -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open -# links to external symbols imported via tag files in a separate window. +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. EXT_LINKS_IN_WINDOW = NO -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory -# to force them to be regenerated. +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. FORMULA_FONTSIZE = 10 -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are -# not supported properly for IE 6.0, but are supported on all modern browsers. -# Note that when changing this option you need to delete any form_*.png files -# in the HTML output before the changes have effect. +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. -FORMULA_TRANSPARENT = YES +FORMULA_MACROFILE = -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax -# (see http://www.mathjax.org) which uses client side Javascript for the -# rendering instead of using prerendered bitmaps. Use this if you do not -# have LaTeX installed or if you want to formulas look prettier in the HTML -# output. When enabled you may also need to install MathJax separately and -# configure the path to it using the MATHJAX_RELPATH option. +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. USE_MATHJAX = NO -# When MathJax is enabled you need to specify the location relative to the -# HTML output directory using the MATHJAX_RELPATH option. The destination -# directory should contain the MathJax.js script. For instance, if the mathjax -# directory is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to -# the MathJax Content Delivery Network so you can quickly see the result without -# installing MathJax. -# However, it is strongly recommended to install a local -# copy of MathJax from http://www.mathjax.org before deployment. +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for MathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 +# This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest -# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension -# names that should be enabled during MathJax rendering. +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams +# This tag requires that the tag USE_MATHJAX is set to YES. MATHJAX_EXTENSIONS = -# When the SEARCHENGINE tag is enabled doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets -# (GENERATE_DOCSET) there is already a search function so this one should -# typically be disabled. For large projects the javascript based search engine -# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /