feat(UML-1622): Добавлены статические очереди чтения записи PDO

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.cpp

@@ -69,15 +69,24 @@ void EthEcatPdoFMMU::wait_op() {
 }
 
 void EthEcatPdoFMMU::process_write_queue(uint8_t* process_data, uint32_t len) {
-    //DebugP_log("write lock\r\n");
     mutex_write_.lock();
 
-    auto queue = queue_write_; // Копия очереди
+    auto static_queue = static_queue_write_;
+    auto queue = queue_write_;
+
     queue_write_.clear();
 
-    //DebugP_log("write unlock\r\n");
     mutex_write_.unlock();
-    //DebugP_log("queue write dequeue first\r\n");
+
+    auto static_next = static_queue.dequeue();
+
+    while(static_next != nullptr) {
+        //DebugP_log("set value\r\n");
+        static_next->set_value(process_data, len);
+        //DebugP_log("queue read dequeue\r\n");
+        static_next = static_queue.dequeue();
+    }
+
     auto next = queue.dequeue();
 
     while(next != nullptr) {
@@ -92,12 +101,22 @@ void EthEcatPdoFMMU::process_read_queue(uint8_t* process_data, uint32_t len) {
     //DebugP_log("read lock\r\n");
     mutex_read_.lock();
 
-    auto queue = queue_read_; // Копия очереди
+    auto static_queue = static_queue_read_;
+    auto queue = queue_read_;
+
     queue_read_.clear();
 
-    //DebugP_log("read unlock\r\n");
     mutex_read_.unlock();
-    //DebugP_log("queue read dequeue first\r\n");
+
+    auto static_next = static_queue.dequeue();
+
+    while(static_next != nullptr) {
+        //DebugP_log("set value\r\n");
+        static_next->set_value(process_data, len);
+        //DebugP_log("queue read dequeue\r\n");
+        static_next = static_queue.dequeue();
+    }
+
     auto next = queue.dequeue();
 
     while(next != nullptr) {

components/free_rtos/ethernet_industry/CoE/eth_ecat_pdo_fmmu.hpp

@@ -95,19 +95,27 @@ public:
     }
 
 
+    void pdo_write_async_static(custom_promise::IPromise& promise) {
+        mutex_write_.lock();
+        static_queue_write_ + promise;
+        mutex_write_.unlock();
+    }
+
+    void pdo_read_async_static(custom_promise::IPromise& promise) {
+        mutex_read_.lock();
+        static_queue_read_ + promise;
+        mutex_read_.unlock();
+    }
+
     void pdo_write_async(custom_promise::IPromise& promise) {
         mutex_write_.lock();
-
         queue_write_ + promise;
-
         mutex_write_.unlock();
     }
 
     void pdo_read_async(custom_promise::IPromise& promise) {
         mutex_read_.lock();
-
         queue_read_ + promise;
-
         mutex_read_.unlock();
     }
 
@@ -119,6 +127,9 @@ private:
     Mutex mutex_write_;
     Mutex mutex_read_;
 
+    queue::Queue<custom_promise::IPromise> static_queue_write_;
+    queue::Queue<custom_promise::IPromise> static_queue_read_;
+
     queue::Queue<custom_promise::IPromise> queue_write_;
     queue::Queue<custom_promise::IPromise> queue_read_;
 

components/free_rtos/ethernet_industry/eth_ecat_api.hpp

@@ -57,6 +57,14 @@ public:
         return ecat_pdo_fmmu_.pdo_read<DataTypes...>(timeout_ticks, offset, data...);
     }
 
+    void pdo_write_async_static(custom_promise::IPromise& promise) {
+        ecat_pdo_fmmu_.pdo_write_async_static(promise);
+    }
+
+    void pdo_read_async_static(custom_promise::IPromise& promise) {
+        ecat_pdo_fmmu_.pdo_read_async_static(promise);
+    }
+
     void pdo_write_async(custom_promise::IPromise& promise) {
         ecat_pdo_fmmu_.pdo_write_async(promise);
     }