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ethercat
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Clang-formatted fake library.

This commit is contained in:
Florian Pose 2025-07-24 11:49:14 +02:00
parent 04c4db80c3
commit 49e82079dc
3 changed files with 723 additions and 625 deletions
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.clang-format Normal file
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---
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...

970
fake_lib/fakeethercat.cpp
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fake_lib/fakeethercat.h
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struct Offset
{
int bytes;
int bits;
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
{
return bytes != other.bytes || bits != other.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<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 findEntryByPos(unsigned int) const;
Offset findEntry(uint16_t idx, uint8_t subindex) const;
Offset findEntryByPos(unsigned int) const;
};
struct syncManager
{
ec_direction_t dir;
std::map<uint16_t /* index */, pdo> pdos;
ec_direction_t dir;
std::map<uint16_t /* index */, pdo> pdos;
};
class ec_address
{
uint32_t value;
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; }
uint32_t getCombined() const { return value; }
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
{
return value < other.value;
}
bool operator<(const ec_address &other) const noexcept
{
return value < other.value;
}
bool operator==(const ec_address &other) const noexcept
{
return value == other.value;
}
bool operator==(const ec_address &other) const noexcept
{
return value == other.value;
}
};
class sdo_address
{
uint32_t value;
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; }
uint32_t getCombined() const { return value; }
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;
}
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<unsigned int, syncManager> sync_managers;
std::map<sdo_address, std::basic_string<uint8_t>> sdos;
ec_address address;
uint32_t vendor_id; /**< Expected vendor ID. */
uint32_t product_code; /**< Expected product code. */
std::map<unsigned int, syncManager> sync_managers;
std::map<sdo_address, std::basic_string<uint8_t>> sdos;
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)
{
}
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)
{}
void dumpJson(std::ostream &out, int indent) const;
void dumpJson(std::ostream &out, int indent) const;
};
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,
ec_direction_t dir)
: offset(offset), size_bytes(size_bytes), slave_address(slave_address), syncManager(syncManager), pdo_index(pdo_index), dir(dir)
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,
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;
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;
size_t getSize() const { return data.size(); }
public:
explicit ec_domain(struct rtipc *rtipc, const char *prefix, ec_master_t *master);
int activate();
int process();
int queue();
uint8_t *getData() const
{
if (!activated_)
return nullptr;
return const_cast<uint8_t *>(data.data());
}
size_t getNumSlaves() const { return numSlaves; }
size_t getSize() const
{
return data.size();
}
ssize_t
map(ec_slave_config const &config,
unsigned int syncManager,
uint16_t pdo_index);
int activate();
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);
ec_master_t *getMaster() const { return master; }
ec_master_t *getMaster() const { return master; }
};
struct ec_master
{
private:
struct RtIpcDeleter
{
void operator()(struct rtipc *r) const
private:
struct RtIpcDeleter
{
rtipc_exit(r);
}
};
void operator()(struct rtipc *r) const { rtipc_exit(r); }
};
std::string rt_ipc_dir;
std::string rt_ipc_name;
std::list<ec_domain> domains;
std::map<ec_address, ec_slave_config> slaves;
std::unique_ptr<struct rtipc, RtIpcDeleter> rt_ipc;
int id_;
std::string rt_ipc_dir;
std::string rt_ipc_name;
std::list<ec_domain> domains;
std::map<ec_address, ec_slave_config> slaves;
std::unique_ptr<struct rtipc, RtIpcDeleter> rt_ipc;
int id_;
public:
explicit ec_master(int id);
public:
explicit ec_master(int id);
int activate();
int deactivate();
int activate();
int deactivate();
ec_domain *createDomain();
ec_domain *createDomain();
int getNoSlaves() const { return slaves.size(); }
int getId() const { return id_; }
int getNoSlaves() const { return slaves.size(); }
int getId() const { return id_; }
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. */
);
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. */
);
};