dev(UML-1666): Заменил обработчик на коллбек

This reverts commit b5d7d9ed63.

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -13,7 +13,7 @@ namespace free_rtos {
 
 namespace ecat_pdo_fmmu {
 
-void EthEcatPdoFMMU::init(custom_promise::IPromise *promise_read = nullptr, custom_promise::IPromise *promise_write = nullptr) {
+void EthEcatPdoFMMU::init(ProcessCallback callback) {
     std::vector<ecat_buffer::EcatBufferSlave>& buffer_slaves = ecat_buffer_.get_buffer_slaves();
 
     pdo_fmmu_slaves_.reserve(buffer_slaves.size());
@@ -22,8 +22,7 @@ void EthEcatPdoFMMU::init(custom_promise::IPromise *promise_read = nullptr, cust
         pdo_fmmu_slaves_.emplace_back(EcatPdoFMMUSlave{buffer_slave});
     }
 
-    promise_read_ = promise_read;
-    promise_write_ = promise_write;
+    callback_ = callback;
 }
 
 void EthEcatPdoFMMU::wait_op() {
@@ -135,12 +134,8 @@ void EthEcatPdoFMMU::process() {
 
         process_read_queue(pdo_read.data(), pdo_read.size());
 
-        if(promise_read_ != nullptr) {
-            promise_read_->set_value(pdo_read.data(), pdo_read.size());
-        }
-
-        if(promise_write_ != nullptr) {
-            promise_write_->set_value(pdo_write.data(), pdo_write.size());
+        if(callback_ != nullptr) {
+            callback_();
         }
 
         process_write_queue(pdo_write.data(), pdo_write.size());
@@ -151,7 +146,7 @@ void EthEcatPdoFMMU::process() {
     }
 }
 
-void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250, custom_promise::IPromise *promise_read = nullptr, custom_promise::IPromise *promise_write = nullptr) {
+void EthEcatPdoFMMU::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
     std::vector<uint8_t> pdo_read(110, 0x00);
     std::vector<uint8_t> pdo_write(110, 0x00);
     free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
@@ -174,12 +169,8 @@ void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250, custom_promise
 
         process_read_queue(pdo_read.data(), pdo_read.size());
 
-        if(promise_read != nullptr) {
-            promise_read->set_value(pdo_read.data(), pdo_read.size());
-        }
-
-        if(promise_write != nullptr) {
-            promise_write->set_value(pdo_write.data(), pdo_write.size());
+        if(callback != nullptr) {
+            callback();
         }
 
         process_write_queue(pdo_write.data(), pdo_write.size());

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -18,6 +18,8 @@ namespace free_rtos {
 
 namespace ecat_pdo_fmmu {
 
+typedef void (*ProcessCallback)();
+
 class EcatPdoFMMUSlave {
 public:
     EcatPdoFMMUSlave(ecat_buffer::EcatBufferSlave& buffer_slave)
@@ -50,12 +52,11 @@ private:
 
 class EthEcatPdoFMMU {
 public:
-    EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_buffer)
-    : ecat_buffer_{ecat_buffer} { }
+    EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_buffer): ecat_buffer_{ecat_buffer} { }
 
-    void init(custom_promise::IPromise *promise_read, custom_promise::IPromise *promise_write);
+    void init(ProcessCallback callback = nullptr);
     void process();
-    void process_fake(uint32_t period_microsec, custom_promise::IPromise *promise_read, custom_promise::IPromise *promise_write);
+    void process_fake(uint32_t period_microsec = 250, ProcessCallback callback = nullptr);
 
     uint32_t get_pdo_counter() {
         return pdo_counter_;
@@ -121,8 +122,7 @@ private:
     queue::Queue<custom_promise::IPromise> queue_write_;
     queue::Queue<custom_promise::IPromise> queue_read_;
 
-    custom_promise::IPromise *promise_read_{nullptr};
-    custom_promise::IPromise *promise_write_{nullptr};
+    ProcessCallback callback_{nullptr};
 
     uint32_t pdo_counter_{0};
 
@@ -179,6 +179,7 @@ private:
             telegram.transfer(queue);
         } while(datagram_read.get_all_wkc() < 0x0001);
     }
+
 };
 
 } // namespace ecat_pdo_fmmu

components/free_rtos/ethernet_industry/eth_ecat_api.cpp

@@ -9,7 +9,7 @@
 
 namespace free_rtos {
 
-bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, custom_promise::IPromise *pdo_promise_read, custom_promise::IPromise *pdo_promise_write) {
+bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
     bool status = false;
 
     ecat_.Init(port_id, period_microsec);
@@ -41,7 +41,7 @@ bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32
     ecat_buffer_pdo_.init_sync_manager(sync_manager::SYNC_M2, sync_manager::SYNC_M3);
     ecat_buffer_pdo_.init_fmmu(fmmu::FMMU0, fmmu::FMMU1);
 
-    ecat_pdo_fmmu_.init(pdo_promise_read, pdo_promise_write);
+    ecat_pdo_fmmu_.init(callback);
 
     status = ecat_.preop_to_safeop();
 
@@ -62,8 +62,8 @@ void EthEcatApi::process() {
     ecat_pdo_fmmu_.process();
 }
 
-void EthEcatApi::process_fake(uint32_t period_microsec, custom_promise::IPromise *pdo_promise_read, custom_promise::IPromise *pdo_promise_write) {
-    ecat_pdo_fmmu_.process_fake(period_microsec, pdo_promise_read, pdo_promise_write);
+void EthEcatApi::process_fake(uint32_t period_microsec, ecat_pdo_fmmu::ProcessCallback callback) {
+    ecat_pdo_fmmu_.process_fake(period_microsec, callback);
 }
 
 std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() {

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -28,9 +28,9 @@ public:
     , ecat_sdo_mailbox_{ecat_buffer_sdo_}
     , ecat_pdo_fmmu_{ecat_buffer_pdo_} { }
 
-    bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250, custom_promise::IPromise *pdo_promise_read = nullptr, custom_promise::IPromise *pdo_promise_write = nullptr);
+    bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250, ecat_pdo_fmmu::ProcessCallback callback = nullptr);
     void process();
-    void process_fake(uint32_t period_microsec = 250, custom_promise::IPromise *pdo_promise_read = nullptr, custom_promise::IPromise *pdo_promise_write = nullptr);
+    void process_fake(uint32_t period_microsec = 250, ecat_pdo_fmmu::ProcessCallback callback = nullptr);
     std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
 
     uint32_t get_pdo_counter() {