feat(UML-1462): Добавил счетчик PDO и поправил варнинги от логирования

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -113,6 +113,8 @@ void EthEcatPdoFMMU::process() {
         process_write_queue(process_data.data(), process_data.size());
 
         write(0, process_data);
+
+        pdo_counter_++;
     }
 }
 

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -80,6 +80,10 @@ public:
     void init();
     void process();
 
+    uint32_t get_pdo_counter() {
+        return pdo_counter_;
+    }
+
     template<typename... DataTypes>
     bool pdo_write(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
         custom_promise::WritePromise<DataTypes...> promise{offset, data...};
@@ -141,6 +145,8 @@ private:
     custom_promise::WritePromise<> queue_write_{0};
     custom_promise::ReadPromise<> queue_read_{0};
 
+    uint32_t pdo_counter_{0};
+
     void wait_op();
 
     void process_write_queue(uint8_t* process_data, uint32_t len);

components/free_rtos/ethernet_industry/CoE/eth_ecat_sdo_mailbox.cpp

@@ -30,16 +30,16 @@ void EthEcatSdoMailbox::read_pdo_map(uint16_t pdo_map_rx_index, uint16_t pdo_map
         uint16_t pdo_tx_data_size{0x0000};
         ecat_buffer::PDOMap pdo_map;
 
-        DebugP_log("Reading rx pdo map\r\n");
+        DebugP_log((char*)"Reading rx pdo map\r\n");
         pdo_rx_data_size = sdo_mailbox_slave.pdo_map_read<command::FP>(telegram, pdo_map, pdo_map_rx_index);
 
-        DebugP_log("Reading tx pdo map\r\n");
+        DebugP_log((char*)"Reading tx pdo map\r\n");
         pdo_tx_data_size = sdo_mailbox_slave.pdo_map_read<command::FP>(telegram, pdo_map, pdo_map_tx_index);
 
         pdo_map_.emplace_back(std::move(pdo_map));
 
-        DebugP_log("pdo_rx_data_size = %d\r\n", pdo_rx_data_size);
+        DebugP_log((char*)"pdo_rx_data_size = %d\r\n", pdo_rx_data_size);
-        DebugP_log("pdo_tx_data_size = %d\r\n", pdo_tx_data_size);
+        DebugP_log((char*)"pdo_tx_data_size = %d\r\n", pdo_tx_data_size);
     }
 }
 

components/free_rtos/ethernet_industry/CoE/eth_ecat_sdo_mailbox.hpp

@@ -280,7 +280,7 @@ public:
 
         if( (elements.coe_header.service != static_cast<uint8_t>(Service::SDO_RESPONSE)) ||
             (elements.command_specifier.command_spec != static_cast<uint8_t>(SDOReqCommandSpecifier::UPLOAD)) ) {
-            DebugP_log("CoE error: = 0x%04x\r\n", complete_size.value); // 0x601004 - The object cannot be accessed via complete access
+            DebugP_log((char*)"CoE error: = 0x%04x\r\n", complete_size.value); // 0x601004 - The object cannot be accessed via complete access
         }
 
         //DebugP_log("elements.coe_header.number = %d\r\n", elements.coe_header.number);
@@ -318,7 +318,7 @@ public:
 
         if( (elements.coe_header.service != static_cast<uint8_t>(Service::SDO_RESPONSE)) ||
             (elements.command_specifier.command_spec != static_cast<uint8_t>(SDOReqCommandSpecifier::UPLOAD)) ) {
-            DebugP_log("CoE error: = 0x%04x\r\n", complete_size.value); // 0x601004 - The object cannot be accessed via complete access
+            DebugP_log((char*)"CoE error: = 0x%04x\r\n", complete_size.value); // 0x601004 - The object cannot be accessed via complete access
         }
 
         //DebugP_log("elements.coe_header.number = %d\r\n", elements.coe_header.number);
@@ -345,7 +345,7 @@ public:
         sdo_read<TypeT, uint8_t>(telegram, pdo_map_index, 0x00, pdo_block_count);
         pdo_map.block_index_map[pdo_map_index].emplace(0, pdo_block_count);
 
-        DebugP_log("pdo_block_count = 0x%01x\r\n", pdo_block_count);
+        DebugP_log((char*)"pdo_block_count = 0x%01x\r\n", pdo_block_count);
 
         for(uint8_t pdo_map_subindex = 1; pdo_map_subindex < (pdo_block_count + 1); pdo_map_subindex++) {
             uint16_t pdo_block_index{0x0000};
@@ -363,7 +363,7 @@ public:
             sdo_read<TypeT, uint8_t>(telegram, pdo_block_index, 0, pdo_block_object_count);
             pdo_map.object_descriptor_map[pdo_block_index].emplace(0, tmp);
 
-            DebugP_log("pdo_block_object_count = 0x%01x\r\n", pdo_block_object_count);
+            DebugP_log((char*)"pdo_block_object_count = 0x%01x\r\n", pdo_block_object_count);
 
             for(uint8_t pdo_block_subindex = 1; pdo_block_subindex < (pdo_block_object_count + 1); pdo_block_subindex++) {
                 ecat_buffer::PDODescriptor descriptor;

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -109,19 +109,19 @@ void EthEcat::set_slaves_to_default() {
     //telegram_.transfer(l);
     //telegram_.transfer(m);
 
-    DebugP_log("a.get_wkc() = %d\r\n", a.get_wkc());
+    DebugP_log((char*)"a.get_wkc() = %d\r\n", a.get_wkc());
-    DebugP_log("b.get_wkc() = %d\r\n", b.get_wkc());
+    DebugP_log((char*)"b.get_wkc() = %d\r\n", b.get_wkc());
-    DebugP_log("c.get_wkc() = %d\r\n", c.get_wkc());
+    DebugP_log((char*)"c.get_wkc() = %d\r\n", c.get_wkc());
-    DebugP_log("d.get_wkc() = %d\r\n", d.get_wkc());
+    DebugP_log((char*)"d.get_wkc() = %d\r\n", d.get_wkc());
-    DebugP_log("e.get_wkc() = %d\r\n", e.get_wkc());
+    DebugP_log((char*)"e.get_wkc() = %d\r\n", e.get_wkc());
-    DebugP_log("f.get_wkc() = %d\r\n", f.get_wkc());
+    DebugP_log((char*)"f.get_wkc() = %d\r\n", f.get_wkc());
-    DebugP_log("g.get_wkc() = %d\r\n", g.get_wkc());
+    DebugP_log((char*)"g.get_wkc() = %d\r\n", g.get_wkc());
-    DebugP_log("h.get_wkc() = %d\r\n", h.get_wkc());
+    DebugP_log((char*)"h.get_wkc() = %d\r\n", h.get_wkc());
-    DebugP_log("i.get_wkc() = %d\r\n", i.get_wkc());
+    DebugP_log((char*)"i.get_wkc() = %d\r\n", i.get_wkc());
-    DebugP_log("j.get_wkc() = %d\r\n", j.get_wkc());
+    DebugP_log((char*)"j.get_wkc() = %d\r\n", j.get_wkc());
-    DebugP_log("k.get_wkc() = %d\r\n", k.get_wkc());
+    DebugP_log((char*)"k.get_wkc() = %d\r\n", k.get_wkc());
-    DebugP_log("l.get_wkc() = %d\r\n", l.get_wkc());
+    DebugP_log((char*)"l.get_wkc() = %d\r\n", l.get_wkc());
-    DebugP_log("m.get_wkc() = %d\r\n", m.get_wkc());
+    DebugP_log((char*)"m.get_wkc() = %d\r\n", m.get_wkc());
 }
 
 uint16_t EthEcat::slaves_detecting() {
@@ -184,16 +184,16 @@ void EthEcat::get_addresses_of_slaves() {
     } while(datagrams[0].get_all_wkc() < number_of_slaves);
 
     for(EcatSlave& slave : slaves_) {
-        DebugP_log("Slave %d address = %d\r\n", -slave.get_slave_address<command::AP>(), slave.get_slave_address<command::FP>());
+        DebugP_log((char*)"Slave %d address = %d\r\n", -slave.get_slave_address<command::AP>(), slave.get_slave_address<command::FP>());
     }
 }
 
 uint16_t EthEcat::config_init(uint16_t address_base) {
-    DebugP_log("Initializing slaves...\r\n");
+    DebugP_log((char*)"Initializing slaves...\r\n");
 
     set_slaves_to_default();
     uint16_t number_of_slaves = slaves_detecting();
-    DebugP_log("number_of_slaves = %d\r\n", number_of_slaves);
+    DebugP_log((char*)"number_of_slaves = %d\r\n", number_of_slaves);
 
     set_addresses_of_slaves(number_of_slaves, address_base);
     get_addresses_of_slaves();
@@ -214,7 +214,7 @@ bool EthEcat::init_to_preop() {
         success &= slave.init_to_preop<command::FP>(telegram_);
     }
 
-    DebugP_log("success = %d\r\n", success);
+    DebugP_log((char*)"success = %d\r\n", success);
 
     return success;
 }
@@ -226,7 +226,7 @@ bool EthEcat::preop_to_safeop() {
         success &= slave.preop_to_safeop<command::FP>(telegram_);
     }
 
-    DebugP_log("success = %d\r\n", success);
+    DebugP_log((char*)"success = %d\r\n", success);
 
     return success;
 }
@@ -269,8 +269,8 @@ bool EthEcat::safeop_to_op() {
         ecat_timer_.Start();
     }
 
-    DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
+    DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
-    DebugP_log("success = %d\r\n", success);
+    DebugP_log((char*)"success = %d\r\n", success);
 
     return success;
 }

components/free_rtos/ethernet_industry/eth_ecat.hpp

@@ -90,7 +90,7 @@ public:
             } while(datagram.get_wkc() < 0x0001);
         }
 
-        DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
+        DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
 
         if((stat.state & 0x0010) != 0) {
             using TCommand = command::EcatCommand<TypeT, command::RD>;
@@ -133,7 +133,7 @@ public:
             } while(datagram.get_wkc() < 0x0001);
         }
 
-        DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
+        DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
 
         if((stat.state & 0x0010) != 0) {
             using TCommand = command::EcatCommand<TypeT, command::RD>;
@@ -145,7 +145,7 @@ public:
                 telegram.transfer(datagram);
             } while(datagram.get_wkc() < 0x0001);
 
-            DebugP_log("stat_code = 0x%02x\r\n", stat_code);
+            DebugP_log((char*)"stat_code = 0x%02x\r\n", stat_code);
         }
 
         return (stat.state == EC_STATE_SAFE_OP) && (stat.fault == 0);
@@ -178,7 +178,7 @@ public:
             } while(datagram.get_wkc() < 0x0001);
         }
 
-        DebugP_log("stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
+        DebugP_log((char*)"stat.state = %d, stat.fault = %d\r\n", stat.state, stat.fault);
 
         if((stat.state & 0x0010) != 0) {
             using TCommand = command::EcatCommand<TypeT, command::RD>;
@@ -190,7 +190,7 @@ public:
                 telegram.transfer(datagram);
             } while(datagram.get_wkc() < 0x0001);
 
-            DebugP_log("stat_code = 0x%02x\r\n", stat_code);
+            DebugP_log((char*)"stat_code = 0x%02x\r\n", stat_code);
         }
 
         return (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -25,6 +25,9 @@ public:
     static void process(); // Внутри бесконечный цикл. Запускать в отдельном потоке
 
     static std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
+    static uint32_t get_pdo_counter() {
+        return get_ecat_pdo_fmmu().get_pdo_counter();
+    }
 
     template<typename... DataTypes>
     static ecat_sdo_mailbox::CompleteSize sdo_write(size_t slave_index, uint16_t index, uint8_t subindex, DataTypes&... data) {

components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp

@@ -163,8 +163,8 @@ public:
         buffer_regs_[MailboxesRegs::WRITE] = buffer_properties_write_.offset;
         buffer_regs_[MailboxesRegs::READ] = buffer_properties_read_.offset;
 
-        DebugP_log("buffer_properties_write_ = 0x%04x\r\n", buffer_properties_write_);
+        DebugP_log((char*)"buffer_properties_write_ = 0x%04x\r\n", buffer_properties_write_);
-        DebugP_log("buffer_properties_read_ = 0x%04x\r\n", buffer_properties_read_);
+        DebugP_log((char*)"buffer_properties_read_ = 0x%04x\r\n", buffer_properties_read_);
     }
 
     template<typename TypeT>
@@ -202,8 +202,8 @@ public:
         buffer_regs_[MailboxesRegs::EMPTY] = sync_manager_write.offset + 0x05;
         buffer_regs_[MailboxesRegs::AVAILABLE] = sync_manager_read.offset + 0x05;
 
-        DebugP_log("datagram_write.get_wkc() = %d\r\n", datagram_write.get_wkc());
+        DebugP_log((char*)"datagram_write.get_wkc() = %d\r\n", datagram_write.get_wkc());
-        DebugP_log("datagram_read.get_wkc() = %d\r\n", datagram_read.get_wkc());
+        DebugP_log((char*)"datagram_read.get_wkc() = %d\r\n", datagram_read.get_wkc());
     }
 
     template<typename TypeT>

components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp

@@ -44,7 +44,6 @@ struct DatagramPackFunctor : public PackFunctor {
         raw = data[data.size() - 1].pack(raw);
     }
 };
-*/
 
 // Функтор для обхода и распаковки датаграмм в custom_tuple
 struct DatagramUnpackFunctor : public UnpackFunctor {
@@ -69,6 +68,7 @@ struct DatagramUnpackFunctor : public UnpackFunctor {
         raw = data[data.size() - 1].unpack(raw);
     }
 };
+*/
 
 template<typename... DataTypes>
 class Future {

components/free_rtos/ethernet_ip/eth_arp.cpp

@@ -207,5 +207,5 @@ int32_t free_rtos::EthArp::Process(uint8_t * p_data, uint32_t len)
 
 uint32_t free_rtos::EthArp::Sender(uint8_t * p_data, size_t scatter_segment)
 {
-
+    return 0;
 }

components/free_rtos/ethernet_ip/eth_icmp.cpp

@@ -42,5 +42,5 @@ int32_t free_rtos::EthIcmp::Process(uint8_t * p_data, uint32_t len)
 
 uint32_t free_rtos::EthIcmp::Sender(uint8_t * p_data, size_t scatter_segment)
 {
-
+    return 0;
 }

components/free_rtos/ethernet_ip/eth_ip.cpp

@@ -72,7 +72,7 @@ int32_t free_rtos::EthIp::Process(uint8_t * p_data, uint32_t len)
 
 uint32_t free_rtos::EthIp::Sender(uint8_t * p_data, size_t scatter_segment)
 {
-
+    return 0;
 }
 
 bool free_rtos::EthIp::send(TEthMacPorts port_id, uint32_t dest_ip, uint8_t prot_id, TEthPkt& pkt)

components/free_rtos/ethernet_ip/eth_udp_server.cpp

@@ -73,6 +73,6 @@ int32_t free_rtos::EthUdpServer::Process(uint8_t * p_data, uint32_t len)
 
 uint32_t free_rtos::EthUdpServer::Sender(uint8_t * p_data, size_t scatter_segment)
 {
-
+    return 0;
 }