refactor(UML-1462): Небольшой рефакторинг

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -272,7 +272,6 @@ bool EthEcat::safeop_to_op() {
     }
 
     success = (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);
-    //ClockP_usleep(3000000ul);
 
     if(success == true) {
         ecat_timer_.Start();

components/free_rtos/ethernet_industry/eth_ecat.hpp

@@ -151,51 +151,6 @@ public:
         return (stat.state == EC_STATE_SAFE_OP) && (stat.fault == 0);
     }
 
-    template<typename TypeT>
-    bool safeop_to_op(telegram::EcatTelegram& telegram) {
-        auto slave_address = get_slave_address<TypeT>();
-        ALSTAT stat{0x0000, 0x0000};
-        uint16_t zero{0x00000000};
-
-        {
-            using TCommand = command::EcatCommand<TypeT, command::WR>;
-            uint16_t data{EC_STATE_OPERATIONAL};
-            datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALCTL}}, data };
-
-            do {
-                telegram.transfer(datagram);
-            } while(datagram.get_wkc() < 0x0001);
-        }
-
-        //ClockP_usleep(3000000ul);
-
-        {
-            using TCommand = command::EcatCommand<TypeT, command::RD>;
-            datagram::EcatDatagram<TCommand, ALSTAT, uint16_t> datagram{ {{slave_address, ECT_REG_ALSTAT}}, stat, zero };
-
-            do {
-                telegram.transfer(datagram);
-            } while(datagram.get_wkc() < 0x0001);
-        }
-
-        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>;
-
-            uint16_t stat_code{0x0000};
-            datagram::EcatDatagram<TCommand, uint16_t> datagram{ {{slave_address, ECT_REG_ALSTATCODE}}, stat_code};
-
-            do {
-                telegram.transfer(datagram);
-            } while(datagram.get_wkc() < 0x0001);
-
-            DebugP_log((char*)"stat_code = 0x%02x\r\n", stat_code);
-        }
-
-        return (stat.state == EC_STATE_OPERATIONAL) && (stat.fault == 0);
-    }
-
 private:
     address::SlaveAddresses slave_addresses_;
 };
@@ -271,8 +226,6 @@ private:
         e_pktTotal
     };
 
-    //Mutex mut_;
-
     free_rtos::Timer ecat_timer_;
 
     free_rtos::Semaphore rx_sem_;

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -9,7 +9,6 @@
 #define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_API_HPP_
 
 #define COMX 1
-//#define PROCESS_FAKE 1
 
 #include "ethernet/eth.hpp"
 #include "ethernet_industry/eth_ecat.hpp"

components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp

@@ -387,15 +387,13 @@ class EthEcatBuffer {
 public:
     EthEcatBuffer(EthEcat& ecat): ecat_{ecat} { }
 
-    EthEcat& get_ecat()
+    void init(uint16_t rx_eeprom_addr, uint16_t tx_eeprom_addr);
-    {
+
+    EthEcat& get_ecat() {
         return ecat_;
     }
 
-    void init(uint16_t rx_eeprom_addr, uint16_t tx_eeprom_addr);
+    std::vector<EcatBufferSlave>& get_buffer_slaves() {
-
-        std::vector<EcatBufferSlave>& get_buffer_slaves()
-    {
         return buffer_slaves_;
     }
 

components/free_rtos/ethernet_industry/eth_ecat_command.hpp

@@ -109,8 +109,8 @@ public:
 
     EcatCommand() { }
 
-    static constexpr TYPE_INDEX type = TypeT::type;
+    using TType = TypeT;
-    static constexpr DIR_INDEX dir = DirT::dir;
+    using TDir = DirT;
 
     static constexpr uint8_t get_cmd() {
         std::array<std::array<uint8_t, 4>, 4> commands = {{

components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp

@@ -159,9 +159,6 @@ private:
 
 }
 
-
 }
 
-
-
 #endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_DATAGRAM_HPP_ */

components/free_rtos/ethernet_industry/eth_ecat_queue.hpp

@@ -41,7 +41,7 @@ public:
     explicit Queue(DataType& first) {
         //DebugP_log((char*)"Constructor coupling first data\r\n");
 
-        append(&first);
+        queue(&first);
     }
 
     Queue(DataType& first, DataType& next) {
@@ -49,7 +49,7 @@ public:
 
         first.set_next(&next);
 
-        append(&first, &next, 2);
+        queue(&first, &next, 2);
     }
 
     DataType* get_first() {
@@ -67,13 +67,13 @@ public:
     Queue& operator+(DataType& data) {
         //DebugP_log((char*)"Coupling next data\r\n");
 
-        return append(&data);
+        return queue(&data);
     }
 
     Queue& operator+(Queue& other) {
         //DebugP_log((char*)"Coupling with other queue\r\n");
 
-        return append(other.get_first(), other.get_last(), other.get_size());
+        return queue(other.get_first(), other.get_last(), other.get_size());
     }
 
     DataType* dequeue() {
@@ -109,7 +109,7 @@ private:
     DataType *last_{nullptr};
     size_t size_{0};
 
-    Queue& append(DataType *other_first, DataType *other_last = nullptr, size_t other_size = 1) {
+    Queue& queue(DataType *other_first, DataType *other_last = nullptr, size_t other_size = 1) {
         if(first_ == nullptr) {
             first_ = other_first;
         }

components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp

@@ -52,20 +52,12 @@ uint8_t* EcatTelegram::pack(uint8_t *raw) {
 
     auto queue = datagram_queue_;  // Копия очереди
     auto next = queue.dequeue();
-/*
-    if(datagram_queue_ == nullptr) {
-        DebugP_log((char*)"Warning ! Empty queue !\r\n");
 
-        return p_datagram_last;
-    }
-    auto next = datagram_queue_;
-*/
     while(next != nullptr) {
         //DebugP_log((char*)"Packet packed\r\n");
 
         p_datagram_last = next->pack(p_datagram_last);
         next = queue.dequeue();
-        //next = next->get_next();
     }
 
     p_hdr->bits.length = p_datagram_last - p_datagram_first;
@@ -93,20 +85,12 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
 
     auto queue = datagram_queue_; // Копия очереди
     auto next = queue.dequeue();
-/*
-    if(datagram_queue_ == nullptr) {
-        DebugP_log((char*)"Warning ! Empty queue !\r\n");
 
-        return p_datagram_last;
-    }
-    auto next = datagram_queue_;
-*/
     while(next != nullptr) {
         //DebugP_log((char*)"Packet unpacked\r\n");
 
         p_datagram_last = next->unpack(p_datagram_last);
         next = queue.dequeue();
-        //next = next->get_next();
     }
 
     return p_datagram_last;
@@ -124,12 +108,10 @@ void EcatTelegram::transfer() {
     rx_sem_.pend();
 
     datagram_queue_.clear();
-    //datagram_queue_ = nullptr;
 }
 
 void EcatTelegram::transfer(datagram::IEcatDatagram& next) {
     datagram_queue_ + next;
-    //datagram_queue_ = &next;
 
     transfer();
 }