feat(UML-1462): Оптимизированна упаковка датаграмм

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -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);

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -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"

components/free_rtos/ethernet_industry/eth_ecat_command.hpp

@@ -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)};

components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp

@@ -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);
 

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -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);
 

components/free_rtos/ethernet_industry/eth_ecat_packer.hpp

@@ -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};
+        if(skip == false) {
-
+            DataT *data_p = new(raw) DataT{data};
-        (void)data_p;
+            (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)
+    PackFunctor(uint8_t *raw, bool skip = false)
-    : PackFunctorBase{raw} { }
+    : 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);
+        if(skip == false) {
-
+            DataT *p_data = reinterpret_cast<DataT*>(raw);
-        data = *p_data;
+            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)
+    UnpackFunctor(uint8_t *raw, bool skip)
-    : UnpackFunctorBase{raw} { }
+    : 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;
     }