GCC Code Coverage Report

Directory: ./
File: src/devices/Festo.cpp
Date: 2026-09-03 16:05:57
Exec Total Coverage
Lines: 74 113 65.5%
Branches: 49 286 17.1%
Line Branch Exec Source
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 "devices/Festo.h"
24
25 #include "SlaveContext.h"
26 #include "ecapp/ConfigurableChannelCount.h"
27 #include "ecapp/Domain.h"
28 #include "ecapp/Exceptions.h"
29 #include "ecapp/Factory.h"
30 #include "ecapp/Master.h"
31 #include "ecapp/SwappedSync.h"
32
33 #include <memory>
34 #include <sstream>
35 #include <stdexcept>
36
37 using std::logic_error;
38 using std::make_unique;
39 using std::out_of_range;
40 using std::runtime_error;
41 using std::size_t;
42 using std::stringstream;
43 using std::unique_ptr;
44
45 /****************************************************************************/
46
47 namespace EcApp {
48
49 static ec_pdo_entry_info_t festo_pdo_entries[] = {
50 {0x7000, 0x01, 8},
51 {0x7000, 0x02, 8},
52 {0x7000, 0x03, 8},
53 {0x7000, 0x04, 8},
54 };
55
56 static ec_pdo_info_t festo_pdos[] = {
57 {0x1600, 4, festo_pdo_entries + 0}, /* RxPDO 1 mapping */
58 };
59
60 static ec_sync_info_t festo_syncs[] = {
61 {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
62 {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
63 {2, EC_DIR_OUTPUT, 1, festo_pdos + 0, EC_WD_ENABLE},
64 {3, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
65 {0xff}};
66
67 /****************************************************************************/
68
69 template <Mode mode>
70 2 Festo<mode>::Festo(
71 pdserv *pdserv,
72 pdtask *task,
73 const std::string &prefix,
74 Master *master,
75 uint16_t alias,
76 uint16_t position,
77 Domain *domainOut) :
78 serv(pdserv),
79 task(task),
80 prefix(prefix),
81 channelCountSet(false),
82 sc(NULL),
83 domainOut(domainOut),
84 2 offOut(-1)
85 {
86
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 2 if (!master) {
87 2 return;
88 }
89
90 ✗ sc = ecrt_master_slave_config(
91 master->getMaster(), alias, position, 0x0000001d, 0x0008bc8c);
92 ✗ if (!sc) {
93 ✗ stringstream err;
94 ✗ err << "Failed to get slave configuration for Festo.";
95 ✗ throw runtime_error(err.str());
96 }
97
98 ✗ if (ecrt_slave_config_pdos(
99 sc, EC_END, SwappedSync<mode>(festo_syncs).getSync())) {
100 ✗ stringstream err;
101 ✗ err << "Failed to configure PDOs of Festo.";
102 ✗ throw runtime_error(err.str());
103 }
104
105 ✗ offOut = ecrt_slave_config_reg_pdo_entry(
106 sc, 0x7000, 0x01, domainOut->getDomain(), NULL);
107 ✗ if (offOut < 0) {
108 ✗ stringstream err;
109 ✗ err << "Failed to register Festo output PDO entry.";
110 ✗ throw runtime_error(err.str());
111 }
112 }
113
114 /****************************************************************************/
115
116 template <Mode mode>
117 3 void Festo<mode>::setChannelCount(unsigned int count)
118 {
119
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 3 if (channelCountSet) {
120 throw logic_error(
121 "Festo::setChannelCount() was already called; pdserv "
122
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 1 "does not support registering the same signal twice.");
123 }
124 2 channelCountSet = true;
125
126
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 2 if (count > MaxChannels) {
127
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 2 stringstream err;
128
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 2 err << "Festo supports at most " << MaxChannels
129
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 1 << " channels (32 bits reserved in the PDO), requested " << count
130 << ".";
131
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 1 throw out_of_range(err.str());
132 }
133
134
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 1 input.assign(count, 0);
135
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 1 prevInput.assign(count, 0);
136
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 1 toggle.assign(count, 0);
137
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 1 prevToggle.assign(count, 0);
138
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 1 autoValue.assign(count, 0);
139
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 1 enableForcing.assign(count, 0);
140
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 1 forcedValue.assign(count, 0);
141
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 1 output.assign(count, 0);
142
143
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 1 if (serv && task) {
144 ✗ pdserv_signal(
145 ✗ task, 1, (prefix + "/Output").c_str(), pd_boolean_T,
146 ✗ output.data(), count, NULL);
147 ✗ pdserv_parameter(
148 ✗ serv, (prefix + "/EnableForcing").c_str(), 0666, pd_boolean_T,
149 ✗ enableForcing.data(), count, NULL, NULL, NULL);
150 ✗ pdserv_parameter(
151 ✗ serv, (prefix + "/ForcedValue").c_str(), 0666, pd_boolean_T,
152 ✗ forcedValue.data(), count, NULL, NULL, NULL);
153 ✗ pdserv_parameter(
154 ✗ serv, (prefix + "/Toggle").c_str(), 0666, pd_uint32_T,
155 ✗ toggle.data(), count, NULL, NULL, NULL);
156 }
157 1 }
158
159 /****************************************************************************/
160
161 template <Mode mode>
162 2 void Festo<mode>::setOutput(unsigned int channel, bool value)
163 {
164
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 2 if (channel < input.size()) {
165 2 input[channel] = value;
166 }
167 2 }
168
169 /****************************************************************************/
170
171 template <Mode mode>
172 ✗ bool Festo<mode>::getOutput(unsigned int channel) const
173 {
174 ✗ if (channel < output.size()) {
175 ✗ return output[channel];
176 }
177
178 ✗ return false;
179 }
180
181 /****************************************************************************/
182
183 template <Mode mode>
184 1 void Festo<mode>::updateOutputs()
185 {
186
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 25 for (unsigned int i = 0; i < input.size(); i++) {
187 // toggle logic
188
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 24 const bool inputRising = input[i] && !prevInput[i];
189 24 const bool inputUnchanged = input[i] == prevInput[i];
190 24 prevInput[i] = input[i];
191
192 24 const bool toggleChanged = toggle[i] != prevToggle[i];
193 24 prevToggle[i] = toggle[i];
194
195 24 const bool toggleXorState = toggleChanged != autoValue[i];
196
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 24 const bool toggledState = inputUnchanged && toggleXorState;
197
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 24 autoValue[i] = inputRising || toggledState;
198
199
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 24 if (enableForcing[i]) {
200 ✗ output[i] = forcedValue[i];
201 }
202 else {
203 24 output[i] = autoValue[i];
204 }
205
206
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 24 if (domainOut->getData()) {
207 ✗ unsigned int byteOffset = i / 8;
208 ✗ unsigned int bitOffset = i % 8;
209 ✗ EC_WRITE_BIT(
210 domainOut->getData() + offOut + byteOffset, bitOffset,
211 output[i]);
212 }
213 }
214 1 }
215
216 /****************************************************************************/
217
218 template <Mode mode>
219 ✗ unsigned int Festo<mode>::numChannels() const
220 {
221 ✗ return output.size();
222 }
223
224 /****************************************************************************/
225
226 template class Festo<Mode::Control>;
227 template class Festo<Mode::Simulation>;
228
229 /****************************************************************************/
230 // Generic SubDevice + ConfigurableChannelCount adapter. Festo has no
231 // input channels at all; its output channel list is empty until
232 // setChannelCount() has been called (see ConfigurableChannelCount).
233 /****************************************************************************/
234
235 template <Mode mode>
236 4 class FestoAdapter : public SubDevice, public ConfigurableChannelCount
237 {
238 public:
239 2 explicit FestoAdapter(const SlaveContext &ctx) :
240 2 device(ctx.pdServ,
241 2 ctx.task,
242 ctx.prefix,
243 2 ctx.master,
244 2 ctx.alias,
245 2 ctx.position,
246
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 10 ctx.domainOut)
247 2 {}
248
249 1 void updateInputs() override {}
250 1 void updateOutputs() override { device.updateOutputs(); }
251
252 2 const std::vector<ChannelKind> &inputKinds() const override
253 {
254 2 return inputKinds_;
255 }
256 9 const std::vector<ChannelKind> &outputKinds() const override
257 {
258 9 return outputKinds_;
259 }
260
261 3 void setChannelCount(unsigned int count) override
262 {
263 3 device.setChannelCount(count);
264
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 1 outputKinds_ = {{"Output", count, false}};
265 1 }
266
267 protected:
268 ✗ ChannelValue getInputAt(size_t) const override
269 {
270 ✗ throw UnknownChannel("Festo has no input channels.");
271 }
272 2 void setOutputAt(size_t i, const ChannelValue &value) override
273 {
274 2 device.setOutput(static_cast<unsigned int>(i), std::get<bool>(value));
275 2 }
276
277 private:
278 Festo<mode> device;
279 std::vector<ChannelKind> inputKinds_;
280 std::vector<ChannelKind> outputKinds_;
281 };
282
283 /****************************************************************************/
284
285 namespace {
286
287 8 DeviceFactoryFn makeFestoFactory()
288 {
289 2 return [](const SlaveContext &ctx) -> unique_ptr<SubDevice> {
290
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 2 if (ctx.mode == Mode::Control) {
291 ✗ return make_unique<FestoAdapter<Mode::Control>>(ctx);
292 }
293 else {
294 2 return make_unique<FestoAdapter<Mode::Simulation>>(ctx);
295 }
296
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 8 };
297 }
298
299 struct FestoRegistration
300 {
301 8 FestoRegistration()
302 {
303
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 24 Registry::instance().add(
304 {"Festo", __FILE__, 0x0000001d, 0x0008bc8c, AnyRevision,
305
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 16 wrapFactory(makeFestoFactory())});
306 8 }
307 8 } festoRegistration;
308
309 } // namespace
310
311 24 } // namespace EcApp
312
313 /****************************************************************************/
314