diff --git a/fake_lib/fakeethercat.cpp b/fake_lib/fakeethercat.cpp index 88a3b618..b60b1994 100644 --- a/fake_lib/fakeethercat.cpp +++ b/fake_lib/fakeethercat.cpp @@ -31,8 +31,6 @@ #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(); @@ -213,14 +211,6 @@ int ecrt_domain_state( int ec_master::activate() { - const auto permutate = getPermutationVector(domains.size()); - int i = 0; - for (auto &domain : domains) - { - if (domain.activate(permutate[i])) - return -1; - ++i; - } { std::ofstream out(rt_ipc_dir + "/" + rt_ipc_name + "_slaves.json"); if (!out.is_open()) @@ -433,30 +423,6 @@ static const char *getRtIpcDir() return "/tmp/FakeEtherCAT"; } -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_EC_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(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) { }