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/***************************************************************************** |
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* |
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* This file is part of the ecapp library (EtherCAT application devices). |
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* |
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* Copyright (C) 2026 Florian Pose <fp@igh.de> |
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* |
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* The ecapp library is free software: you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation, version 3 of the |
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* License. |
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* |
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* The ecapp library is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public |
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* License along with the ecapp library. If not, see |
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* <https://www.gnu.org/licenses/>. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_VARIABLEPDO_H |
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#define ECAPP_VARIABLEPDO_H |
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/****************************************************************************/ |
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#include "ecapp/SubDevice.h" // ChannelValue |
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#include "ecapp_export.h" |
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#include <string> |
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#include <vector> |
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/****************************************************************************/ |
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namespace EcApp { |
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/** One channel to declare via VariablePdo::configure(). type is a |
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* default-constructed value of the desired channel type, exactly like |
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* ChannelKind::type tags a kind's type elsewhere in this library -- |
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* e.g. {"Temperature", float(0)}. Every ChannelValue alternative is |
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* supported; the channel gets that alternative's natural width on the |
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* wire (1 bit for bool, 8/16/32/64 bit otherwise) and the matching |
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* pdserv type. |
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* |
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* forcible only applies to output channels (ignored for inputs): it |
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* additionally registers an EnableForcing/ForcedValue parameter pair, |
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* exactly like Ex20xx/Ex4xxx outputs -- while EnableForcing is set, |
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* ForcedValue overrides whatever the application writes via |
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* setOutput()/writeOutput()/bindOutput(), transparently to the |
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* caller. The value actually driven onto the wire (post-forcing) is |
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* separately visible as the read-only pdserv signal "<name>/Output". */ |
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struct PdoChannel |
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{ |
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std::string name; |
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ChannelValue type; |
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bool forcible = true; |
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}; |
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/** Capability for slaves whose process data is not fixed by the |
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* device type at all, but freely composed by the application -- e.g. |
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* the EL6692 EtherCAT-Bridge, whose RxPDO/TxPDO mapping objects start |
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* out empty and accept application-chosen entries (unlike |
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* IoLinkMaster, where each port's channel set is still fixed once a |
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* device name has been assigned to it). |
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* |
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* Unlike IoLinkMaster's per-port setPortDevice() + a final |
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* applyPortConfig(), there is only one call here: ports are fixed, |
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* addressable slots that can sensibly be populated one at a time, |
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* while VariablePdo channels are just an ordered, append-only list -- |
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* in practice always declared together at one call site anyway, so |
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* configure() takes the whole list at once rather than risking a |
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* forgotten "apply" step or a channel declared too late. Call it once, |
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* before the master is activated; it (re)builds the channel list / |
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* pdserv signals & parameters to match, and still does so even if |
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* this instance has no real slave config (master was null at |
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* construction), so the device remains usable in tests without a bus. |
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* |
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* A channel name must be unique per direction -- it becomes both the |
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* ChannelKind name (see SubDevice::inputIndex()/outputIndex() etc.) |
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* and the pdserv path segment below this device's own prefix. For |
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* several channels of the same kind, give each its own name (e.g. |
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* "Ch0", "Ch1", ...); there is no homogeneous count>1 kind here the |
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* way a fixed terminal like EL2008 has for its 8 identical outputs. |
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* |
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* The order of channels in each vector is the order they are mapped |
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* into the PDO. ecapp cannot check that the peer side of a |
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* point-to-point link (e.g. the bridge's other half, configured by |
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* separate application code, possibly in a different project) agrees |
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* on that order and on each channel's type -- getting both sides to |
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* agree is an application-level contract. */ |
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class ECAPP_EXPORT VariablePdo |
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{ |
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public: |
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virtual ~VariablePdo() = default; |
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virtual void configure( |
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const std::vector<PdoChannel> &inputs, |
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const std::vector<PdoChannel> &outputs) = 0; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_VARIABLEPDO_H |
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/****************************************************************************/ |
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