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fix(UML-1582): Багфиксы

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This commit is contained in:
algin 2023-06-16 13:01:24 +03:00
parent 14d7e6b376
commit bd46f29041
8 changed files with 58 additions and 104 deletions
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4
components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp
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@ -62,7 +62,7 @@ void EthEcatPdoFMMU::wait_op() {
void EthEcatPdoFMMU::process_write_queue(uint8_t* process_data, uint32_t len) {
mutex_write_.lock();
queue::Queue<custom_promise::IPromise> queue = queue_write_;
auto queue = queue_write_; // Копия очереди
queue_write_.clear();
mutex_write_.unlock();
@ -78,7 +78,7 @@ void EthEcatPdoFMMU::process_write_queue(uint8_t* process_data, uint32_t len) {
void EthEcatPdoFMMU::process_read_queue(uint8_t* process_data, uint32_t len) {
mutex_read_.lock();
queue::Queue<custom_promise::IPromise> queue = queue_read_;
auto queue = queue_read_; // Копия очереди
queue_read_.clear();
mutex_read_.unlock();

11
components/free_rtos/ethernet_industry/eth_ecat.cpp
View File

@ -28,7 +28,7 @@ void EthEcat::Init(TEthMacPorts port_id) {
.clock_src_mux_addr = 0x430081B0u, // sysconfig
.int_num = 152u, // sysconfig
.int_priority = 4, // sysconfig
.period_us = 400 ///400 microsec
.period_us = 1000 ///400 microsec
};
ecat_timer_.Init(ecat_tmr_sett);
@ -97,7 +97,7 @@ void EthEcat::set_slaves_to_default() {
auto queue = a + b + c + d + e + f + g + h + i + j + k + l + m;
do {
telegram_.transfer(a);
telegram_.transfer(queue);
} while(a.get_all_wkc() < 0x0001);
//telegram_.transfer(b);
@ -154,9 +154,7 @@ void EthEcat::set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t addres
address::SlaveAddresses slave_addresses{position, 0x0000, station, 0x00000000};
slaves_.emplace_back(EcatSlave{std::move(slave_addresses)});
datagrams.emplace_back(TDatagram{ {{position, ECT_REG_STADR}}, slaves_.back().get_slave_address<command::FP>() });
datagrams.back().update();
}
queue::Queue<datagram::IEcatDatagram> queue;
@ -166,7 +164,7 @@ void EthEcat::set_addresses_of_slaves(uint16_t number_of_slaves, uint16_t addres
}
do {
telegram_.transfer(datagrams[0]);
telegram_.transfer(queue);
} while(datagrams[0].get_all_wkc() < number_of_slaves);
DebugP_log((char*)"Slave addresses set\r\n");
@ -182,7 +180,6 @@ void EthEcat::get_addresses_of_slaves() {
for(EcatSlave& slave : slaves_) {
datagrams.emplace_back(TDatagram{ {{slave.get_slave_address<command::AP>(), ECT_REG_STADR}}, slave.get_slave_address<command::FP>() });
datagrams.back().update();
}
queue::Queue<datagram::IEcatDatagram> queue;
@ -192,7 +189,7 @@ void EthEcat::get_addresses_of_slaves() {
}
do {
telegram_.transfer(datagrams[0]);
telegram_.transfer(queue);
} while(datagrams[0].get_all_wkc() < number_of_slaves);
for(EcatSlave& slave : slaves_) {

2
components/free_rtos/ethernet_industry/eth_ecat_buffer.hpp
View File

@ -202,7 +202,7 @@ public:
auto queue = datagram_write + datagram_read;
do {
telegram.transfer(datagram_write);
telegram.transfer(queue);
} while(datagram_write.get_all_wkc() < 0x0002);
/*
do {

12
components/free_rtos/ethernet_industry/eth_ecat_custom_promise.hpp
View File

@ -63,24 +63,24 @@ private:
bool ready_{false};
};
class IPromise {
public:
class IPromise : protected queue::QueueEntity {
friend class queue::Queue<IPromise>;
public:
IPromise(address::Offset offset = 0)
: offset_{offset} { }
/*
queue::Queue<IPromise> operator+(IPromise &next) {
return queue::Queue<IPromise>{queue_entity_, next.queue_entity_};
return queue::Queue<IPromise>{*this, next};
}
*/
virtual void set_value(uint8_t* process_data, uint32_t len) = 0;
protected:
address::Offset offset_{0};
private:
queue::QueueEntity<IPromise> queue_entity_{this};
};
template<typename... DataTypes>

45
components/free_rtos/ethernet_industry/eth_ecat_datagram.hpp
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@ -23,36 +23,23 @@ namespace datagram {
using TEcatWkc = uint16_t;
class IEcatDatagram {
public:
class IEcatDatagram : protected queue::QueueEntity {
friend class queue::Queue<IEcatDatagram>;
public:
IEcatDatagram()
: queue_entity_{this}
{ }
virtual ~IEcatDatagram() { };
void update() {
queue_entity_.set_data(this);
}
IEcatDatagram* get_next() {
queue::QueueEntity<IEcatDatagram>* next = queue_entity_.get_next();
if(next == nullptr) {
//DebugP_log((char*)"No next datagram\r\n");
return nullptr;
}
return next->get_data();
return static_cast<IEcatDatagram*>(get_next());
}
queue::Queue<IEcatDatagram> operator+(IEcatDatagram &next) {
//DebugP_log((char*)"Coupling first pair\r\n");
return queue::Queue<IEcatDatagram>{queue_entity_, next.queue_entity_};
return queue::Queue<IEcatDatagram>{*this, next};
}
virtual uint8_t* pack(uint8_t *raw) = 0;
@ -67,20 +54,19 @@ public:
}
TEcatWkc get_all_wkc() {
queue::QueueEntity<IEcatDatagram>* next = queue_entity_.get_next();
IEcatDatagram* next = static_cast<IEcatDatagram*>(get_next());
if(next == nullptr) {
return wkc_;
}
return wkc_ + next->get_data()->get_all_wkc();
return wkc_ + next->get_all_wkc();
}
protected:
TEcatDgHeader header_;
TEcatWkc wkc_{0x0000};
queue::QueueEntity<IEcatDatagram> queue_entity_;
private:
};
@ -128,25 +114,10 @@ private:
}
uint8_t* pack_header(uint8_t *raw) {
uint8_t *data_raw = raw + sizeof(TEcatDgHeader);/*
address::Station station_0{static_cast<uint16_t>(address_base + 0)};
address::Station station_1{static_cast<uint16_t>(address_base + 1)};
TDatagram datagram_0{ {{address::Position{0}, ECT_REG_STADR}}, station_0};
TDatagram datagram_1{ {{address::Position{-1}, ECT_REG_STADR}}, station_1 };
queue = datagram_0 + datagram_1;
*/
uint8_t *data_raw = raw + sizeof(TEcatDgHeader);
uint8_t *wkc_raw = pack_data(data_raw); // сначала упаковываем все данные для вычисления их размера
uint16_t len = wkc_raw - data_raw; // вычисляем размер данных
ec_moredatagrams more;
if(queue_entity_.get_next() != nullptr) {
more = ec_moredatagrams::EC_MOREDATAGRAMS_MORE;
}else{
more = ec_moredatagrams::EC_MOREDATAGRAMS_LAST;
}
ec_moredatagrams more = (get_next() != nullptr) ? ec_moredatagrams::EC_MOREDATAGRAMS_MORE : ec_moredatagrams::EC_MOREDATAGRAMS_LAST;
TEcatDgHeader *header_ = new(raw) TEcatDgHeader{
command_.get_cmd(),
0x00,

50
components/free_rtos/ethernet_industry/eth_ecat_queue.hpp
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@ -14,59 +14,49 @@ namespace free_rtos {
namespace queue {
template<typename DataType>
class Queue;
template<typename DataType>
class QueueEntity {
public:
friend class Queue<DataType>;
QueueEntity(DataType *data)
: data_{data} { }
void set_data(DataType* data) {
data_ = data;
}
DataType* get_data() {
return data_;
}
protected:
QueueEntity* get_next() {
return next_;
}
void set_next(QueueEntity *next) {
next_ = next;
}
private:
DataType *data_{nullptr};
QueueEntity *next_{nullptr};
};
template<typename DataType>
class Queue {
static_assert(std::is_base_of<QueueEntity, DataType>::value == true, "DataType should be derived from QueueEntity and Queue should be a friend class");
public:
Queue() { }
explicit Queue(QueueEntity<DataType>& first) {
explicit Queue(DataType& first) {
//DebugP_log((char*)"Constructor coupling first data\r\n");
append(&first);
}
Queue(QueueEntity<DataType>& first, QueueEntity<DataType>& next) {
Queue(DataType& first, DataType& next) {
//DebugP_log((char*)"Constructor coupling first and next data\r\n");
first.next_ = &next;
first.set_next(&next);
append(&first, &next, 2);
}
QueueEntity<DataType>* get_first() {
DataType* get_first() {
return first_;
}
QueueEntity<DataType>* get_last() {
DataType* get_last() {
return last_;
}
@ -77,7 +67,7 @@ public:
Queue& operator+(DataType& data) {
//DebugP_log((char*)"Coupling next data\r\n");
return append(&data.queue_entity_);
return append(&data);
}
Queue& operator+(Queue& other) {
@ -87,13 +77,13 @@ public:
}
DataType* dequeue() {
QueueEntity<DataType>* first = first_;
DataType* first = first_;
if(first == nullptr) {
return nullptr;
}
first_ = first_->next_;
first_ = static_cast<DataType*>(first_->get_next());
if(first_ == nullptr) {
last_ = nullptr;
@ -101,7 +91,7 @@ public:
size_--;
return first->data_;
return first;
}
bool empty() {
@ -115,17 +105,17 @@ public:
}
private:
QueueEntity<DataType> *first_{nullptr};
QueueEntity<DataType> *last_{nullptr};
DataType *first_{nullptr};
DataType *last_{nullptr};
size_t size_{0};
Queue& append(QueueEntity<DataType> *other_first, QueueEntity<DataType> *other_last = nullptr, size_t other_size = 1) {
Queue& append(DataType *other_first, DataType *other_last = nullptr, size_t other_size = 1) {
if(first_ == nullptr) {
first_ = other_first;
}
if(last_ != nullptr) {
last_->next_ = other_first;
last_->set_next(other_first);
}
if(other_last == nullptr) {

34
components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp
View File

@ -50,7 +50,7 @@ uint8_t* EcatTelegram::pack(uint8_t *raw) {
(void)p_eth_hdr;
(void)p_hdr;
queue::Queue<datagram::IEcatDatagram> queue = datagram_queue_;
auto queue = datagram_queue_; // Копия очереди
auto next = queue.dequeue();
/*
if(datagram_queue_ == nullptr) {
@ -91,7 +91,7 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
return raw;
}
queue::Queue<datagram::IEcatDatagram> queue = datagram_queue_;
auto queue = datagram_queue_; // Копия очереди
auto next = queue.dequeue();
/*
if(datagram_queue_ == nullptr) {
@ -112,10 +112,7 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
return p_datagram_last;
}
void EcatTelegram::transfer(datagram::IEcatDatagram& next) {
datagram_queue_ + next;
//datagram_queue_ = &next;
void EcatTelegram::transfer() {
bool stat = eth_stack_.send_pkt(port_id_, ETH_PROT_ECAT_LE, 1);
if(stat == false) {
@ -129,23 +126,20 @@ void EcatTelegram::transfer(datagram::IEcatDatagram& next) {
datagram_queue_.clear();
//datagram_queue_ = nullptr;
}
/*
void EcatTelegram::transfer(datagram::IEcatDatagram& next) {
datagram_queue_ + next;
//datagram_queue_ = &next;
transfer();
}
void EcatTelegram::transfer(queue::Queue<datagram::IEcatDatagram>& next) {
datagram_queue_ + next;
bool stat = eth_stack_.send_pkt(port_id_, ETH_PROT_ECAT_LE, 1);
if(stat == false) {
DebugP_log((char*)"telegram transfer error !\r\n");
return;
}
rx_sem_.pend();
datagram_queue_.clear();
}
*/
transfer();
}
}
}

4
components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp
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@ -31,7 +31,7 @@ public:
}
void transfer(datagram::IEcatDatagram& next);
//void transfer(queue::Queue<datagram::IEcatDatagram>& next);
void transfer(queue::Queue<datagram::IEcatDatagram>& next);
private:
Eth& eth_;
@ -43,6 +43,8 @@ private:
queue::Queue<datagram::IEcatDatagram> datagram_queue_;
//datagram::IEcatDatagram *datagram_queue_{nullptr};
void transfer();
uint8_t* pack(uint8_t *raw);
uint8_t* unpack(uint8_t *raw);
};