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

.clang-format

@@ -0,0 +1,93 @@
+---
+Language: Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
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+AlignConsecutiveDeclarations: false
+AlignConsecutiveMacros: false
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+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: InlineOnly
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: No
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+    AfterCaseLabel:  false
+    AfterClass:      true
+    AfterControlStatement: Never
+    AfterEnum:       false
+    AfterFunction:   true
+    AfterNamespace:  false
+    AfterStruct:     true
+    AfterUnion:      true
+    AfterExternBlock: false
+    BeforeCatch:     true
+    BeforeElse:      true
+    IndentBraces:    false
+    SplitEmptyFunction: false
+    SplitEmptyRecord: false
+    SplitEmptyNamespace: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Custom # Same as 'BraceWrapping'
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: AfterColon
+BreakInheritanceList: AfterColon
+BreakStringLiterals: true
+ColumnLimit:    78
+CompactNamespaces: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 8
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+FixNamespaceComments: true
+IncludeBlocks: Preserve
+IndentAccessModifiers: true
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth: 4
+InsertBraces: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: None
+PackConstructorInitializers: Never
+PointerAlignment: Right
+ReflowComments: true
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+SortUsingDeclarations: true
+SpaceAfterCStyleCast: true
+SpaceAfterLogicalNot: false
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+...

fake_lib/fakeethercat.h

@@ -38,8 +38,10 @@ struct Offset
         int bytes;
         int bits;
 
-    constexpr Offset(int bytes,
-                     int bits) : bytes(bytes), bits(bits) {}
+        constexpr Offset(int bytes, int bits):
+            bytes(bytes),
+            bits(bits)
+        {}
 
         constexpr bool operator!=(const Offset &other) const noexcept
         {
@@ -56,6 +58,7 @@ struct pdo
         size_t sizeInBytes() const;
 
         Offset findEntry(uint16_t idx, uint8_t subindex) const;
+        Offset findEntryByPos(unsigned int) const;
 };
 
 struct syncManager
@@ -66,14 +69,15 @@ struct syncManager
 
 class ec_address
 {
+    private:
         uint32_t value;
 
-public:
-    ec_address(uint16_t alias, /**< Slave alias. */
-               uint16_t position /**< Slave position. */)
-        : value(static_cast<uint32_t>(alias) << 16 | position)
-    {
-    }
+    public:
+        ec_address(
+                uint16_t alias, /**< Slave alias. */
+                uint16_t position /**< Slave position. */):
+            value(static_cast<uint32_t>(alias) << 16 | position)
+        {}
 
         uint16_t getAlias() const { return value >> 16; }
         uint16_t getPosition() const { return value & 0xFFFF; }
@@ -93,14 +97,15 @@ public:
 
 class sdo_address
 {
+    private:
         uint32_t value;
 
-public:
-    sdo_address(uint16_t index, /**< Slave alias. */
-               uint8_t subindex /**< Slave position. */)
-        : value(static_cast<uint32_t>(index) << 8 | subindex)
-    {
-    }
+    public:
+        sdo_address(
+                uint16_t index, /**< Slave alias. */
+                uint8_t subindex /**< Slave position. */):
+            value(static_cast<uint32_t>(index) << 8 | subindex)
+        {}
 
         uint16_t getIndex() const { return value >> 8; }
         uint8_t getSubIndex() const { return value & 0xFF; }
@@ -128,18 +133,18 @@ struct ec_slave_config
         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)
-    {
-    }
+                uint32_t product_code /**< Expected product code. */):
+            address(address),
+            vendor_id(vendor_id),
+            product_code(product_code)
+        {}
 
         void dumpJson(std::ostream &out, int indent) const;
 };
 
 struct ec_domain
 {
-
-private:
+    private:
         struct PdoMap
         {
                 size_t offset;
@@ -149,16 +154,19 @@ private:
                 uint16_t pdo_index;
                 ec_direction_t dir;
 
-        PdoMap(
-            size_t offset,
+                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)
-        {
-        }
+                       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;
@@ -170,23 +178,31 @@ private:
         bool activated_ = false;
         size_t numSlaves = 0;
 
-public:
-    explicit ec_domain(struct rtipc *rtipc, const char *prefix, ec_master_t *master);
+    public:
+        explicit ec_domain(
+                struct rtipc *rtipc,
+                const char *prefix,
+                ec_master_t *master);
 
         uint8_t *getData() const
         {
-        if (!activated_)
+            if (!activated_) {
                 return nullptr;
+            }
             return const_cast<uint8_t *>(data.data());
         }
 
+        size_t getSize() const { return data.size(); }
+
         int activate();
         int process();
         int queue();
 
         size_t getNumSlaves() const { return numSlaves; }
 
-    ssize_t map(ec_slave_config const &config, unsigned int syncManager,
+        ssize_t
+        map(ec_slave_config const &config,
+            unsigned int syncManager,
             uint16_t pdo_index);
 
         ec_master_t *getMaster() const { return master; }
@@ -194,13 +210,10 @@ public:
 
 struct ec_master
 {
-private:
+    private:
         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;
@@ -210,19 +223,21 @@ private:
         std::unique_ptr<struct rtipc, RtIpcDeleter> rt_ipc;
         int id_;
 
-public:
+    public:
         explicit ec_master(int id);
 
         int activate();
+        int deactivate();
+
         ec_domain *createDomain();
 
         int getNoSlaves() const { return slaves.size(); }
         int getId() const { return id_; }
 
-ec_slave_config_t *slave_config(
+        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. */
-);
+        );
 };