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Merge branch '187-fake_lib-ecrt_master_deactivate-is-missing-for-testing-purposes' into 'stable-1.6' 

Resolve "fake_lib: ecrt_master_deactivate() is missing for testing purposes"

Closes #187

See merge request etherlab.org/ethercat!177
This commit is contained in:
Florian Pose 2025-07-28 15:16:55 +02:00
parent b82a66735c 49e82079dc
commit 6489901521
3 changed files with 1282 additions and 535 deletions
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struct Offset struct Offset
{ {
int bytes; int bytes;
int bits; int bits;
constexpr Offset(int bytes, constexpr Offset(int bytes, int bits):
int bits) : bytes(bytes), bits(bits) {} bytes(bytes),
bits(bits)
{}
constexpr bool operator!=(const Offset &other) const noexcept constexpr bool operator!=(const Offset &other) const noexcept
{ {
return bytes != other.bytes || bits != other.bits; return bytes != other.bytes || bits != other.bits;
} }
}; };
constexpr Offset NotFound(-1, -1); constexpr Offset NotFound(-1, -1);
struct pdo struct pdo
{ {
std::vector<ec_pdo_entry_info_t> entries; std::vector<ec_pdo_entry_info_t> entries;
size_t sizeInBytes() const; size_t sizeInBytes() const;
Offset findEntry(uint16_t idx, uint8_t subindex) const; Offset findEntry(uint16_t idx, uint8_t subindex) const;
Offset findEntryByPos(unsigned int) const;
}; };
struct syncManager struct syncManager
{ {
ec_direction_t dir; ec_direction_t dir;
std::map<uint16_t /* index */, pdo> pdos; std::map<uint16_t /* index */, pdo> pdos;
}; };
class ec_address class ec_address
{ {
uint32_t value; private:
uint32_t value;
public: public:
ec_address(uint16_t alias, /**< Slave alias. */ ec_address(
uint16_t position /**< Slave position. */) uint16_t alias, /**< Slave alias. */
: value(static_cast<uint32_t>(alias) << 16 | position) uint16_t position /**< Slave position. */):
{ value(static_cast<uint32_t>(alias) << 16 | position)
} {}
uint16_t getAlias() const { return value >> 16; } uint16_t getAlias() const { return value >> 16; }
uint16_t getPosition() const { return value & 0xFFFF; } uint16_t getPosition() const { return value & 0xFFFF; }
uint32_t getCombined() const { return value; } uint32_t getCombined() const { return value; }
bool operator<(const ec_address &other) const noexcept bool operator<(const ec_address &other) const noexcept
{ {
return value < other.value; return value < other.value;
} }
bool operator==(const ec_address &other) const noexcept bool operator==(const ec_address &other) const noexcept
{ {
return value == other.value; return value == other.value;
} }
}; };
class sdo_address class sdo_address
{ {
uint32_t value; private:
uint32_t value;
public: public:
sdo_address(uint16_t index, /**< Slave alias. */ sdo_address(
uint8_t subindex /**< Slave position. */) uint16_t index, /**< Slave alias. */
: value(static_cast<uint32_t>(index) << 8 | subindex) uint8_t subindex /**< Slave position. */):
{ value(static_cast<uint32_t>(index) << 8 | subindex)
} {}
uint16_t getIndex() const { return value >> 8; } uint16_t getIndex() const { return value >> 8; }
uint8_t getSubIndex() const { return value & 0xFF; } uint8_t getSubIndex() const { return value & 0xFF; }
uint32_t getCombined() const { return value; } uint32_t getCombined() const { return value; }
bool operator<(const sdo_address &other) const noexcept bool operator<(const sdo_address &other) const noexcept
{ {
return value < other.value; return value < other.value;
} }
bool operator==(const sdo_address &other) const noexcept bool operator==(const sdo_address &other) const noexcept
{ {
return value == other.value; return value == other.value;
} }
}; };
struct ec_slave_config struct ec_slave_config
{ {
ec_address address; ec_address address;
uint32_t vendor_id; /**< Expected vendor ID. */ uint32_t vendor_id; /**< Expected vendor ID. */
uint32_t product_code; /**< Expected product code. */ uint32_t product_code; /**< Expected product code. */
std::map<unsigned int, syncManager> sync_managers; std::map<unsigned int, syncManager> sync_managers;
std::map<sdo_address, std::basic_string<uint8_t>> sdos; std::map<sdo_address, std::basic_string<uint8_t>> sdos;
ec_slave_config( ec_slave_config(
ec_address address, ec_address address,
uint32_t vendor_id, /**< Expected vendor ID. */ uint32_t vendor_id, /**< Expected vendor ID. */
uint32_t product_code /**< Expected product code. */) uint32_t product_code /**< Expected product code. */):
: address(address), vendor_id(vendor_id), product_code(product_code) address(address),
{ vendor_id(vendor_id),
} product_code(product_code)
{}
void dumpJson(std::ostream &out, int indent) const; void dumpJson(std::ostream &out, int indent) const;
}; };
struct ec_domain struct ec_domain
{ {
private:
private: struct PdoMap
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,
ec_direction_t dir)
: offset(offset), size_bytes(size_bytes), slave_address(slave_address), syncManager(syncManager), pdo_index(pdo_index), dir(dir)
{ {
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,
ec_direction_t dir):
offset(offset),
size_bytes(size_bytes),
slave_address(slave_address),
syncManager(syncManager),
pdo_index(pdo_index),
dir(dir)
{}
};
std::vector<uint8_t> data;
std::vector<unsigned char> connected;
std::vector<PdoMap> 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,
ec_master_t *master);
uint8_t *getData() const
{
if (!activated_) {
return nullptr;
}
return const_cast<uint8_t *>(data.data());
} }
};
std::vector<uint8_t> data; size_t getSize() const { return data.size(); }
std::vector<unsigned char> connected;
std::vector<PdoMap> mapped_pdos;
rtipc_group *rt_group;
const char *prefix;
ec_master_t *master;
bool activated_ = false;
size_t numSlaves = 0;
public: int activate();
explicit ec_domain(struct rtipc *rtipc, const char *prefix, ec_master_t *master); int process();
int queue();
uint8_t *getData() const size_t getNumSlaves() const { return numSlaves; }
{
if (!activated_)
return nullptr;
return const_cast<uint8_t *>(data.data());
}
int activate(); ssize_t
int process(); map(ec_slave_config const &config,
int queue(); unsigned int syncManager,
uint16_t pdo_index);
size_t getNumSlaves() const { return numSlaves; } ec_master_t *getMaster() const { return master; }
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 struct ec_master
{ {
private: private:
struct RtIpcDeleter struct RtIpcDeleter
{
void operator()(struct rtipc *r) const
{ {
rtipc_exit(r); void operator()(struct rtipc *r) const { rtipc_exit(r); }
} };
};
std::string rt_ipc_dir; std::string rt_ipc_dir;
std::string rt_ipc_name; std::string rt_ipc_name;
std::list<ec_domain> domains; std::list<ec_domain> domains;
std::map<ec_address, ec_slave_config> slaves; std::map<ec_address, ec_slave_config> slaves;
std::unique_ptr<struct rtipc, RtIpcDeleter> rt_ipc; std::unique_ptr<struct rtipc, RtIpcDeleter> rt_ipc;
int id_; int id_;
public: public:
explicit ec_master(int id); explicit ec_master(int id);
int activate(); int activate();
ec_domain *createDomain(); int deactivate();
int getNoSlaves() const { return slaves.size(); } ec_domain *createDomain();
int getId() const { return id_; }
ec_slave_config_t *slave_config( int getNoSlaves() const { return slaves.size(); }
uint16_t alias, /**< Slave alias. */ int getId() const { return id_; }
uint16_t position, /**< Slave position. */
uint32_t vendor_id, /**< Expected vendor ID. */ ec_slave_config_t *slave_config(
uint32_t product_code /**< Expected product code. */ uint16_t alias, /**< Slave alias. */
); uint16_t position, /**< Slave position. */
uint32_t vendor_id, /**< Expected vendor ID. */
uint32_t product_code /**< Expected product code. */
);
}; };