fix(UML-1462): Исправлена передача PDO в одной телеграмме

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -31,24 +31,26 @@ void EthEcatPdoFMMU::wait_op() {
 
     uint32_t logical_full_length_write = ecat_buffer_.get_fmmu_global_properties().logical_full_length_write;
     uint32_t logical_full_length_read = ecat_buffer_.get_fmmu_global_properties().logical_full_length_read;
-    std::vector<uint8_t> process_data(std::min(logical_full_length_write, logical_full_length_read));
+    std::vector<uint8_t> pdo_read(logical_full_length_read, 0x00);
+    std::vector<uint8_t> pdo_write(logical_full_length_write, 0x00);
+    custom_tuple<std::vector<uint8_t>&> data_tuple_read{pdo_read};
+    custom_tuple<std::vector<uint8_t>&> data_tuple_write{pdo_write};
+
+    read(0, pdo_write); // read to pdo_write !
 
-    read(0, process_data);
 /*
     for(uint8_t& byte : process_data) {
         DebugP_log("0x%01x", byte);
     }
     DebugP_log("\r\n");
 */
-    write(0, process_data);
+    write(0, pdo_write);
 
     init_sem.post();
     process_sem.pend();
 
-    read(0, process_data);
-
     for(uint32_t i = 0; i < 250; i++) {
-        read_write(0, 0, process_data);
+        read_write(0, data_tuple_read, 0, data_tuple_write);
 
         //read(0, process_data);
 /*
@@ -108,23 +110,27 @@ void EthEcatPdoFMMU::process() {
 
     uint32_t logical_full_length_write = ecat_buffer_.get_fmmu_global_properties().logical_full_length_write;
     uint32_t logical_full_length_read = ecat_buffer_.get_fmmu_global_properties().logical_full_length_read;
-    std::vector<uint8_t> process_data(std::min(logical_full_length_write, logical_full_length_read));
+    std::vector<uint8_t> pdo_read(logical_full_length_read, 0x00);
+    std::vector<uint8_t> pdo_write(logical_full_length_write, 0x00);
+    custom_tuple<std::vector<uint8_t>&> data_tuple_read{pdo_read};
+    custom_tuple<std::vector<uint8_t>&> data_tuple_write{pdo_write};
     free_rtos::Timer& ecat_timer = ecat_buffer_.get_ecat().get_ecat_timer();
 
     ecat_timer.Wait();
 
-    read(0, process_data);
+    read(0, pdo_write); // read to pdo_write !
+    write(0, pdo_write);
 
     while(1) {
         ecat_timer.Wait();
         //DebugP_log("Tick !\r\n");
 
-        read_write(0, 0, process_data);
+        read_write(0, data_tuple_read, 0, data_tuple_write);
 
         //read(0, process_data);
 
-        process_read_queue(process_data.data(), process_data.size());
+        process_read_queue(pdo_read.data(), pdo_read.size());
-        process_write_queue(process_data.data(), process_data.size());
+        process_write_queue(pdo_write.data(), pdo_write.size());
 
         //write(0, process_data);
 
@@ -133,7 +139,8 @@ void EthEcatPdoFMMU::process() {
 }
 
 void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
-    std::vector<uint8_t> process_data(110);
+    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();
 
     Timer::Settings ecat_tmr_sett = {
@@ -152,14 +159,11 @@ void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
         ecat_timer.Wait();
         //DebugP_log("Tick !\r\n");
 
-        process_read_queue(process_data.data(), process_data.size());
+        process_read_queue(pdo_read.data(), pdo_read.size());
-        process_write_queue(process_data.data(), process_data.size());
+        process_write_queue(pdo_write.data(), pdo_write.size());
 
         pdo_counter_++;
     }
-
-    DebugP_log("process_fake terminated\r\n");
-    vTaskDelete(NULL);
 }
 
 }

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -156,7 +156,7 @@ private:
     }
 
     template<typename... DataTypes>
-    void read_write(address::Offset offset_read, address::Offset offset_write, DataTypes&... data) {
+    void read_write(address::Offset offset_read, custom_tuple<DataTypes&...> data_read, address::Offset offset_write, custom_tuple<DataTypes&...> data_write) {
         using TDatagramRead = datagram::EcatDatagram<command::LRD, DataTypes...>;
         using TDatagramWrite = datagram::EcatDatagram<command::LWR, DataTypes...>;
 
@@ -164,10 +164,10 @@ private:
         ecat_buffer::FMMUGlobalProperties& fmmu_global_properties = ecat_buffer_.get_fmmu_global_properties();
 
         address::Logical logical_read = fmmu_global_properties.logical_start_address + fmmu_global_properties.logical_full_length_write + offset_read;
-        TDatagramRead datagram_read{ {{logical_read}}, data... };
+        TDatagramRead datagram_read{ {{logical_read}}, data_read };
 
         address::Logical logical_write = fmmu_global_properties.logical_start_address + offset_write;
-        TDatagramWrite datagram_write{ {{logical_write}}, data... };
+        TDatagramWrite datagram_write{ {{logical_write}}, data_write };
 
         auto queue = datagram_read + datagram_write;
 

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -77,7 +77,10 @@ public:
     , command_{command}
     , data_tuple_{data...} { }
 
-    EcatDatagram() { }
+    EcatDatagram(CommandT&& command, custom_tuple<DataTypes&...> data_tuple)
+    : IEcatDatagram{}
+    , command_{command}
+    , data_tuple_{data_tuple} { }
 
     ~EcatDatagram() { }