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feat(UML-1462): Оптимизированна упаковка датаграмм

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This commit is contained in:
algin 2023-06-27 15:33:53 +03:00
parent 7f00744ba1
commit 0415a6e63a
6 changed files with 69 additions and 41 deletions
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1
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
View File

@ -50,6 +50,7 @@ void EthEcatPdoFMMU::wait_op() {
process_sem.pend();
for(uint32_t i = 0; i < 250; i++) {
//ClockP_usleep(125);
read_write(0, data_tuple_read, 0, data_tuple_write);
//read(0, process_data);

2
components/free_rtos/ethernet_industry/eth_ecat_api.hpp
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@ -9,7 +9,7 @@
#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_API_HPP_
#define COMX 1
#define PROCESS_FAKE 1
//#define PROCESS_FAKE 1
#include "ethernet/eth.hpp"
#include "ethernet_industry/eth_ecat.hpp"

59
components/free_rtos/ethernet_industry/eth_ecat_command.hpp
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@ -93,29 +93,9 @@ using L = Type<TYPE_INDEX::L>;
class EcatCommandBase {
public:
EcatCommandBase(TYPE_INDEX type, DIR_INDEX dir)
: cmd_{get_cmd_from_table(type, dir)} { }
EcatCommandBase()
: cmd_{ec_cmdtype::EC_CMD_NOP} { }
uint8_t get_cmd() {
return cmd_;
}
private:
ec_cmdtype cmd_;
static constexpr ec_cmdtype get_cmd_from_table(TYPE_INDEX type, DIR_INDEX dir) {
std::array<std::array<ec_cmdtype, 4>, 4> commands = {{
{{EC_CMD_APRD, EC_CMD_APWR, EC_CMD_APRW, EC_CMD_ARMW}},
{{EC_CMD_BRD, EC_CMD_BWR, EC_CMD_BRW, EC_CMD_NOP}},
{{EC_CMD_FPRD, EC_CMD_FPWR, EC_CMD_FPRW, EC_CMD_FRMW}},
{{EC_CMD_LRD, EC_CMD_LWR, EC_CMD_LRW, EC_CMD_NOP}}
}};
return commands[static_cast<uint16_t>(type)][static_cast<uint16_t>(dir)];
}
};
template<typename TypeT, typename DirT>
@ -125,11 +105,46 @@ class EcatCommand : public EcatCommandBase {
public:
EcatCommand(typename TypeT::TAddress&& address)
: EcatCommandBase{TypeT::type, DirT::dir}
, address_{address} { }
: address_{address} { }
EcatCommand() { }
static constexpr TYPE_INDEX type = TypeT::type;
static constexpr DIR_INDEX dir = DirT::dir;
static constexpr uint8_t get_cmd() {
std::array<std::array<uint8_t, 4>, 4> commands = {{
{{EC_CMD_APRD, EC_CMD_APWR, EC_CMD_APRW, EC_CMD_ARMW}},
{{EC_CMD_BRD, EC_CMD_BWR, EC_CMD_BRW, EC_CMD_NOP}},
{{EC_CMD_FPRD, EC_CMD_FPWR, EC_CMD_FPRW, EC_CMD_FRMW}},
{{EC_CMD_LRD, EC_CMD_LWR, EC_CMD_LRW, EC_CMD_NOP}}
}};
return commands[static_cast<uint16_t>(TypeT::type)][static_cast<uint16_t>(DirT::dir)];
}
static constexpr bool get_skip_pack() {
std::array<std::array<bool, 4>, 4> commands = {{
{{true, false, false, false}},
{{false, false, false, true}},
{{true, false, false, false}},
{{true, false, false, true}}
}};
return commands[static_cast<uint16_t>(TypeT::type)][static_cast<uint16_t>(DirT::dir)];
}
static constexpr bool get_skip_unpack() {
std::array<std::array<bool, 4>, 4> commands = {{
{{false, true, false, false}},
{{false, false, false, true}},
{{false, true, false, false}},
{{false, true, false, true}}
}};
return commands[static_cast<uint16_t>(TypeT::type)][static_cast<uint16_t>(DirT::dir)];
}
uint32_t get_address() {
uint32_t address{0x00000000};
PackFunctor functor{reinterpret_cast<uint8_t*>(&address)};

4
components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp
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@ -46,7 +46,7 @@ public:
}
void pack(uint8_t* raw) {
PackFunctor functor{raw};
PackFunctor functor{raw, false};
for_each(data_tuple_, functor);
@ -54,7 +54,7 @@ public:
}
void unpack(uint8_t* raw) {
UnpackFunctor functor{raw};
UnpackFunctor functor{raw, false};
for_each(data_tuple_, functor);

4
components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp
View File

@ -105,7 +105,7 @@ private:
}
uint8_t* pack_data(uint8_t *raw) {
PackFunctor functor{raw};
PackFunctor functor{raw, command_.get_skip_pack()};
for_each(data_tuple_, functor);
@ -141,7 +141,7 @@ private:
}
uint8_t* unpack_data(uint8_t *raw) {
UnpackFunctor functor{raw};
UnpackFunctor functor{raw, command_.get_skip_unpack()};
for_each(data_tuple_, functor);

40
components/free_rtos/ethernet_industry/eth_ecat_packer.hpp
View File

@ -23,12 +23,14 @@ struct Padding {
struct PackFunctorBase {
uint8_t *raw;
bool skip;
template<typename DataT>
void operator()(DataT& data) {
DataT *data_p = new(raw) DataT{data};
(void)data_p;
if(skip == false) {
DataT *data_p = new(raw) DataT{data};
(void)data_p;
}
raw += sizeof(DataT);
@ -38,8 +40,8 @@ struct PackFunctorBase {
// Функтор для обхода и упаковки элементов custom_tuple
struct PackFunctor : public PackFunctorBase {
PackFunctor(uint8_t *raw)
: PackFunctorBase{raw} { }
PackFunctor(uint8_t *raw, bool skip = false)
: PackFunctorBase{raw, skip} { }
using PackFunctorBase::operator ();
@ -47,7 +49,9 @@ struct PackFunctor : public PackFunctorBase {
void operator()(std::vector<DataT>& data) {
size_t size = data.size() * sizeof(DataT);
memcpy(raw, data.data(), size);
if(skip == false) {
memcpy(raw, data.data(), size);
}
raw += size;
}
@ -57,7 +61,9 @@ struct PackFunctor : public PackFunctorBase {
return;
}
memcpy(raw, data.data, data.size);
if(skip == false) {
memcpy(raw, data.data, data.size);
}
raw += data.size;
}
@ -69,12 +75,14 @@ struct PackFunctor : public PackFunctorBase {
struct UnpackFunctorBase {
uint8_t *raw;
bool skip;
template<typename DataT>
void operator()(DataT& data) {
DataT *p_data = reinterpret_cast<DataT*>(raw);
data = *p_data;
if(skip == false) {
DataT *p_data = reinterpret_cast<DataT*>(raw);
data = *p_data;
}
raw += sizeof(DataT);
@ -86,8 +94,8 @@ struct UnpackFunctorBase {
// Функтор для обхода и распаковки элементов custom_tuple
struct UnpackFunctor : public UnpackFunctorBase {
UnpackFunctor(uint8_t *raw)
: UnpackFunctorBase{raw} { }
UnpackFunctor(uint8_t *raw, bool skip)
: UnpackFunctorBase{raw, skip} { }
using UnpackFunctorBase::operator ();
@ -95,7 +103,9 @@ struct UnpackFunctor : public UnpackFunctorBase {
void operator()(std::vector<DataT>& data) {
size_t size = data.size() * sizeof(DataT);
memcpy(data.data(), raw, size);
if(skip == false) {
memcpy(data.data(), raw, size);
}
raw += size;
}
@ -105,7 +115,9 @@ struct UnpackFunctor : public UnpackFunctorBase {
return;
}
memcpy(data.data, raw, data.size);
if(skip == false) {
memcpy(data.data, raw, data.size);
}
raw += data.size;
}