| Directory: | ./ |
|---|---|
| File: | src/Domain.cpp |
| Date: | 2026-09-03 16:05:57 |
| Exec | Total | Coverage | |
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| Lines: | 11 | 46 | 23.9% |
| Branches: | 2 | 42 | 4.8% |
| Line | Branch | Exec | Source |
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| 1 | /***************************************************************************** | ||
| 2 | * | ||
| 3 | * This file is part of the ecapp library (EtherCAT application devices). | ||
| 4 | * | ||
| 5 | * Copyright (C) 2026 Florian Pose <fp@igh.de> | ||
| 6 | * | ||
| 7 | * The ecapp library is free software: you can redistribute it and/or | ||
| 8 | * modify it under the terms of the GNU Lesser General Public License | ||
| 9 | * as published by the Free Software Foundation, version 3 of the | ||
| 10 | * License. | ||
| 11 | * | ||
| 12 | * The ecapp library is distributed in the hope that it will be useful, | ||
| 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| 15 | * Lesser General Public License for more details. | ||
| 16 | * | ||
| 17 | * You should have received a copy of the GNU Lesser General Public | ||
| 18 | * License along with the ecapp library. If not, see | ||
| 19 | * <https://www.gnu.org/licenses/>. | ||
| 20 | * | ||
| 21 | ****************************************************************************/ | ||
| 22 | |||
| 23 | #include "ecapp/Domain.h" | ||
| 24 | |||
| 25 | #include "ecapp/Master.h" | ||
| 26 | |||
| 27 | #include <stdexcept> | ||
| 28 | |||
| 29 | /****************************************************************************/ | ||
| 30 | |||
| 31 | namespace EcApp { | ||
| 32 | |||
| 33 | struct Domain::Impl | ||
| 34 | { | ||
| 35 | ec_domain_t *domain; | ||
| 36 | ec_domain_state_t state; | ||
| 37 | bool valid; | ||
| 38 | uint8_t *data; | ||
| 39 | uint32_t badCycles; | ||
| 40 | }; | ||
| 41 | |||
| 42 | /****************************************************************************/ | ||
| 43 | |||
| 44 | 12 | Domain::Domain( | |
| 45 | pdserv *pdserv, | ||
| 46 | pdtask *task, | ||
| 47 | const std::string &prefix, | ||
| 48 | 12 | Master *master) : | |
| 49 | 12 | impl(new Impl {NULL, {}, false, NULL, 0U}) | |
| 50 | { | ||
| 51 | 12 | impl->state.working_counter = 0; | |
| 52 | 12 | impl->state.wc_state = EC_WC_ZERO; | |
| 53 | 12 | impl->state.redundancy_active = 0; | |
| 54 | |||
| 55 |
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12 | if (pdserv && task) { |
| 56 | ✗ | pdserv_signal( | |
| 57 | ✗ | task, 1, (prefix + "/WorkingCounter").c_str(), pd_uint32_T, | |
| 58 | ✗ | &impl->state.working_counter, 1, NULL); | |
| 59 | ✗ | pdserv_signal( | |
| 60 | ✗ | task, 1, (prefix + "/WorkingCounterState").c_str(), | |
| 61 | ✗ | pd_uint32_T, &impl->state.wc_state, 1, NULL); | |
| 62 | ✗ | pdserv_signal( | |
| 63 | ✗ | task, 1, (prefix + "/RedundancyActive").c_str(), pd_uint32_T, | |
| 64 | ✗ | &impl->state.redundancy_active, 1, NULL); | |
| 65 | ✗ | pdserv_signal( | |
| 66 | ✗ | task, 1, (prefix + "/Valid").c_str(), pd_boolean_T, | |
| 67 | ✗ | &impl->valid, 1, NULL); | |
| 68 | ✗ | pdserv_signal( | |
| 69 | ✗ | task, 1, (prefix + "/BadCycles").c_str(), pd_uint32_T, | |
| 70 | ✗ | &impl->badCycles, 1, NULL); | |
| 71 | } | ||
| 72 | |||
| 73 |
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12 | if (!master) { |
| 74 | 12 | return; | |
| 75 | } | ||
| 76 | |||
| 77 | ✗ | if (!(impl->domain = ecrt_master_create_domain(master->getMaster()))) { | |
| 78 | ✗ | throw std::runtime_error("Domain creation failed!"); | |
| 79 | } | ||
| 80 | } | ||
| 81 | |||
| 82 | /****************************************************************************/ | ||
| 83 | |||
| 84 | Domain::~Domain() = default; | ||
| 85 | |||
| 86 | /****************************************************************************/ | ||
| 87 | |||
| 88 | ✗ | ec_domain_t *Domain::getDomain() | |
| 89 | { | ||
| 90 | ✗ | return impl->domain; | |
| 91 | } | ||
| 92 | |||
| 93 | /****************************************************************************/ | ||
| 94 | |||
| 95 | 59 | uint8_t *Domain::getData() const | |
| 96 | { | ||
| 97 | 59 | return impl->data; | |
| 98 | } | ||
| 99 | |||
| 100 | /****************************************************************************/ | ||
| 101 | |||
| 102 | ✗ | bool Domain::isValid() const | |
| 103 | { | ||
| 104 | ✗ | return impl->valid; | |
| 105 | } | ||
| 106 | |||
| 107 | /****************************************************************************/ | ||
| 108 | |||
| 109 | ✗ | void Domain::updateDataPointer() | |
| 110 | { | ||
| 111 | ✗ | if (impl->domain) { | |
| 112 | ✗ | impl->data = ecrt_domain_data(impl->domain); | |
| 113 | } | ||
| 114 | } | ||
| 115 | |||
| 116 | /****************************************************************************/ | ||
| 117 | |||
| 118 | ✗ | void Domain::process(bool resetStats) | |
| 119 | { | ||
| 120 | ✗ | if (resetStats) { | |
| 121 | ✗ | impl->badCycles = 0U; | |
| 122 | } | ||
| 123 | |||
| 124 | ✗ | if (impl->domain) { | |
| 125 | ✗ | ecrt_domain_process(impl->domain); | |
| 126 | ✗ | ecrt_domain_state(impl->domain, &impl->state); | |
| 127 | ✗ | impl->valid = impl->state.wc_state == EC_WC_COMPLETE; | |
| 128 | ✗ | impl->badCycles += !impl->valid; | |
| 129 | } | ||
| 130 | } | ||
| 131 | |||
| 132 | /****************************************************************************/ | ||
| 133 | |||
| 134 | ✗ | void Domain::queue() | |
| 135 | { | ||
| 136 | ✗ | if (impl->domain) { | |
| 137 | ✗ | ecrt_domain_queue(impl->domain); | |
| 138 | } | ||
| 139 | } | ||
| 140 | |||
| 141 | } // namespace EcApp | ||
| 142 | |||
| 143 | /****************************************************************************/ | ||
| 144 |