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feat(UML-1666): Добавлена регистрация обработчика процесса

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This commit is contained in:
algin 2023-07-25 18:38:28 +03:00
parent 4cfbcac957
commit b5d7d9ed63
4 changed files with 37 additions and 33 deletions
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25
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
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@ -13,7 +13,7 @@ namespace free_rtos {
namespace ecat_pdo_fmmu {
void EthEcatPdoFMMU::init() {
void EthEcatPdoFMMU::init(custom_promise::IPromise *promise_read = nullptr, custom_promise::IPromise *promise_write = nullptr) {
std::vector<ecat_buffer::EcatBufferSlave>& buffer_slaves = ecat_buffer_.get_buffer_slaves();
pdo_fmmu_slaves_.reserve(buffer_slaves.size());
@ -21,6 +21,9 @@ void EthEcatPdoFMMU::init() {
for(ecat_buffer::EcatBufferSlave& buffer_slave : buffer_slaves) {
pdo_fmmu_slaves_.emplace_back(EcatPdoFMMUSlave{buffer_slave});
}
promise_read_ = promise_read;
promise_write_ = promise_write;
}
void EthEcatPdoFMMU::wait_op() {
@ -131,6 +134,15 @@ void EthEcatPdoFMMU::process() {
//read(0, process_data);
process_read_queue(pdo_read.data(), pdo_read.size());
if(promise_read_ != nullptr) {
promise_read_->set_value(pdo_read.data(), pdo_read.size());
}
if(promise_write_ != nullptr) {
promise_write_->set_value(pdo_write.data(), pdo_write.size());
}
process_write_queue(pdo_write.data(), pdo_write.size());
//write(0, process_data);
@ -139,7 +151,7 @@ void EthEcatPdoFMMU::process() {
}
}
void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250, custom_promise::IPromise *promise_read = nullptr, custom_promise::IPromise *promise_write = nullptr) {
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();
@ -161,6 +173,15 @@ void EthEcatPdoFMMU::process_fake(uint32_t period_microsec = 250) {
//DebugP_log("Tick !\r\n");
process_read_queue(pdo_read.data(), pdo_read.size());
if(promise_read != nullptr) {
promise_read->set_value(pdo_read.data(), pdo_read.size());
}
if(promise_write != nullptr) {
promise_write->set_value(pdo_write.data(), pdo_write.size());
}
process_write_queue(pdo_write.data(), pdo_write.size());
pdo_counter_++;

11
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp
View File

@ -50,11 +50,12 @@ private:
class EthEcatPdoFMMU {
public:
EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_buffer): ecat_buffer_{ecat_buffer} { }
EthEcatPdoFMMU(ecat_buffer::EthEcatBuffer& ecat_buffer)
: ecat_buffer_{ecat_buffer} { }
void init();
void init(custom_promise::IPromise *promise_read, custom_promise::IPromise *promise_write);
void process();
void process_fake(uint32_t period_microsec);
void process_fake(uint32_t period_microsec, custom_promise::IPromise *promise_read, custom_promise::IPromise *promise_write);
uint32_t get_pdo_counter() {
return pdo_counter_;
@ -120,6 +121,9 @@ private:
queue::Queue<custom_promise::IPromise> queue_write_;
queue::Queue<custom_promise::IPromise> queue_read_;
custom_promise::IPromise *promise_read_{nullptr};
custom_promise::IPromise *promise_write_{nullptr};
uint32_t pdo_counter_{0};
void wait_op();
@ -175,7 +179,6 @@ private:
telegram.transfer(queue);
} while(datagram_read.get_all_wkc() < 0x0001);
}
};
} // namespace ecat_pdo_fmmu

18
components/free_rtos/ethernet_industry/eth_ecat_api.cpp
View File

@ -9,17 +9,7 @@
namespace free_rtos {
/*
* Порядок инициализации:
* Инициализировать и открыть драйвер eth_.Init(...), eth_.Open()
* Создать служебный поток ecat_task_.Create(...) с вызовом EthEcatApi::process()
* Вызвать EthEcatApi::config_init(...)
* Создать пользовательский поток ecat_task_pdo_.Create(...)
* Для чтения/записи данных в пользовательском потоке вызвать
* pdo_write(...), pdo_read(...) или pdo_write_async(...), pdo_read_async(...)
*/
bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250) {
bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec, custom_promise::IPromise *pdo_promise_read, custom_promise::IPromise *pdo_promise_write) {
bool status = false;
ecat_.Init(port_id, period_microsec);
@ -51,7 +41,7 @@ bool EthEcatApi::config_init(TEthMacPorts port_id, uint16_t address_base, uint32
ecat_buffer_pdo_.init_sync_manager(sync_manager::SYNC_M2, sync_manager::SYNC_M3);
ecat_buffer_pdo_.init_fmmu(fmmu::FMMU0, fmmu::FMMU1);
ecat_pdo_fmmu_.init();
ecat_pdo_fmmu_.init(pdo_promise_read, pdo_promise_write);
status = ecat_.preop_to_safeop();
@ -72,8 +62,8 @@ void EthEcatApi::process() {
ecat_pdo_fmmu_.process();
}
void EthEcatApi::process_fake(uint32_t period_microsec = 250) {
ecat_pdo_fmmu_.process_fake(period_microsec);
void EthEcatApi::process_fake(uint32_t period_microsec, custom_promise::IPromise *pdo_promise_read, custom_promise::IPromise *pdo_promise_write) {
ecat_pdo_fmmu_.process_fake(period_microsec, pdo_promise_read, pdo_promise_write);
}
std::vector<ecat_buffer::PDOMap>& EthEcatApi::get_ecat_pdo_map() {

16
components/free_rtos/ethernet_industry/eth_ecat_api.hpp
View File

@ -18,16 +18,6 @@
namespace free_rtos {
/*
* Порядок инициализации:
* Инициализировать и открыть драйвер eth_.Init(...), eth_.Open()
* Создать служебный поток ecat_task_.Create(...) с вызовом EthEcatApi::process()
* Вызвать EthEcatApi::config_init(...)
* Создать пользовательский поток ecat_task_pdo_.Create(...)
* Для чтения/записи данных в пользовательском потоке вызвать
* pdo_write(...), pdo_read(...) или pdo_write_async(...), pdo_read_async(...)
*/
class EthEcatApi {
public:
EthEcatApi(Eth *eth)
@ -38,9 +28,9 @@ public:
, ecat_sdo_mailbox_{ecat_buffer_sdo_}
, ecat_pdo_fmmu_{ecat_buffer_pdo_} { }
bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec);
void process(); // Внутри бесконечный цикл. Запускать в отдельном потоке
void process_fake(uint32_t period_microsec);
bool config_init(TEthMacPorts port_id, uint16_t address_base, uint32_t period_microsec = 250, custom_promise::IPromise *pdo_promise_read = nullptr, custom_promise::IPromise *pdo_promise_write = nullptr);
void process();
void process_fake(uint32_t period_microsec = 250, custom_promise::IPromise *pdo_promise_read = nullptr, custom_promise::IPromise *pdo_promise_write = nullptr);
std::vector<ecat_buffer::PDOMap>& get_ecat_pdo_map();
uint32_t get_pdo_counter() {