From ac6e7845adaa60e92950bf4b533bc4e103ed2e94 Mon Sep 17 00:00:00 2001
From: algin <algin@diakont.com>
Date: Thu, 8 Jun 2023 12:51:15 +0300
Subject: [PATCH] =?UTF-8?q?feat(UML-1493):=20=D0=94=D0=BE=D0=B1=D0=B0?=
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---
 .../ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp    | 14 ++++++++++----
 .../free_rtos/ethernet_industry/eth_ecat_api.hpp   |  8 ++++----
 .../ethernet_industry/eth_ecat_custom_promise.hpp  |  4 ++--
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
index 038787b..3514d25 100644
--- a/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
+++ b/components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
@@ -81,8 +81,9 @@ public:
     void process();
 
     template<typename... DataTypes>
-    void pdo_write(address::Offset offset, DataTypes&... data) {
+    bool pdo_write(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
         custom_promise::WritePromise<DataTypes...> promise{offset, data...};
+        auto future = promise.get_future();
 
         mutex_write_.lock();
 
@@ -90,12 +91,15 @@ public:
 
         mutex_write_.unlock();
 
-        promise.get_future().get();
+        future.get(timeout_ticks);
+
+        return future.is_ready();
     }
 
     template<typename... DataTypes>
-    void pdo_read(address::Offset offset, DataTypes&... data) {
+    bool pdo_read(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
         custom_promise::ReadPromise<DataTypes...> promise{offset, data...};
+        auto future = promise.get_future();
 
         mutex_read_.lock();
 
@@ -103,7 +107,9 @@ public:
 
         mutex_read_.unlock();
 
-        promise.get_future().get();
+        future.get(timeout_ticks);
+
+        return future.is_ready();
     }
 
 
diff --git a/components/free_rtos/ethernet_industry/eth_ecat_api.hpp b/components/free_rtos/ethernet_industry/eth_ecat_api.hpp
index 42c68c8..d6adbfc 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat_api.hpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat_api.hpp
@@ -37,13 +37,13 @@ public:
     }
 
     template<typename... DataTypes>
-    static void pdo_write(address::Offset offset, DataTypes&... data) {
-        get_ecat_pdo_fmmu().pdo_write<DataTypes...>(offset, data...);
+    static bool pdo_write(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
+        return get_ecat_pdo_fmmu().pdo_write<DataTypes...>(timeout_ticks, offset, data...);
     }
 
     template<typename... DataTypes>
-    static void pdo_read(address::Offset offset, DataTypes&... data) {
-        get_ecat_pdo_fmmu().pdo_read<DataTypes...>(offset, data...);
+    static bool pdo_read(uint32_t timeout_ticks, address::Offset offset, DataTypes&... data) {
+        return get_ecat_pdo_fmmu().pdo_read<DataTypes...>(timeout_ticks, offset, data...);
     }
 
     static void pdo_write_async(custom_promise::IPromise& promise) {
diff --git a/components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp b/components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp
index 3a7ce6d..ff9727d 100644
--- a/components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp
+++ b/components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp
@@ -80,9 +80,9 @@ public:
         return ready_;
     }
 
-    custom_tuple<DataTypes&...> get() {
+    custom_tuple<DataTypes&...> get(uint32_t timeout_ticks = SystemP_WAIT_FOREVER) {
         ready_ = false;
-        sem_.pend();
+        sem_.pend(timeout_ticks);
 
         return data_tuple_;
     }