#include <coe_utilities.h>

Public Member Functions
	PDOBuffer ()=delete

	PDOBuffer (bool is_tx, uint16_t addr_, uint32_t flags_)

template<typename... T>
	PDOBuffer (bool is_tx, uint16_t addr, uint32_t flags, T &&... mappings)

bool	add_mapping (const PDOMapping &mapping, bool may_throw=false)
	add a mapping to the buffer More...

template<typename... T>
void	add_mappings (T &&... mappings)
	Fill buffer from a list of mappings. More...

void	bind (uint8_t *data)
	Bind the buffer to a memory zone. More...

bool	contains_mapping (const PDOMapping &mapping) const
	Tell whether the buffer contains a given mapping. More...

size_t	mapping_memory_shift (const PDOMapping &mapping) const
	Get the shift in buffer memory to access mapping data. More...

size_t	entry_memory_shift (const PDOMapping &mapping, std::string_view entry) const
	Get the shift in buffer memory to access a mapping entry data. More...

template<typename T >
T &	map_memory (const PDOMapping &mapping, std::string_view entry_name)
	Map the entry of a mapping to a typed reference. More...

template<typename T >
const T &	map_memory (const PDOMapping &mapping, std::string_view entry_name) const
	Map the entry of a mapping to a typed const reference. More...

template<typename T >
T &	map_memory (const PDOMapping &mapping)
	Map a mapping to a typed reference. More...

template<typename T >
const T &	map_memory (const PDOMapping &mapping) const
	Map a mapping to a typed reference. More...

template<typename T , typename U , typename... Other>
std::tuple< T &, U &, Other &... >	map_memory ()
	Map the entire buffer to a typed reference. More...

template<typename T , typename U , typename... Other>
std::tuple< const T &, const U &, const Other &... >	map_memory () const
	Map the entire buffer to a typed const reference. More...

template<typename T >
T &	map_memory ()
	Map the entire buffer to a typed reference. More...

template<typename T >
const T &	map_memory () const
	Map the entire buffer to a typed rconst eference. More...

uint16_t	memory_size () const
	Get size of the buffer in memory. More...

void	define_physical_buffer (SlaveDevice &eth_slave)
	define the physical buffer of an ethercat slave More...

bool	configure (SlaveDevice &eth_slave) const
	Configure an ethercat unit device with the corresponding buffer and mappings. More...

bool	assign (SlaveDevice &eth_slave) const
	Configure an ethercat unit device with the corresponding assigned PDO mappings. More...

void	bind_physical_buffer (SlaveDevice &eth_slave)
	bind internal memory zone to the physical buffer of an ethercat slave More...

Private Member Functions
void	check_mapping_throws (const PDOMapping &mapping) const

void	check_mapping_size_throws (const PDOMapping &mapping, size_t bytes) const

uint8_t *	map_memory_internal (const PDOMapping &mapping, size_t bytes)

const uint8_t *	map_memory_internal (const PDOMapping &mapping, size_t bytes) const

const uint8_t *	map_memory_internal (const PDOMapping &mapping, std::string_view entry_name, size_t bytes) const

uint8_t *	map_memory_internal (const PDOMapping &mapping, std::string_view entry_name, size_t bytes)

void	check_entry_throws (const PDOMapping &mapping, std::string_view entry_name, size_t bytes) const

size_t	compute_shift (const PDOMapping &mapping, std::string_view entry_name) const

const PDOMapping &	access_mapping (size_t idx) const

template<typename T >
std::tuple< T & >	map_memory_tuple (size_t mapping_increment)

template<typename T , typename U , typename... Other>
std::tuple< T &, U &, Other &... >	map_memory_tuple (size_t mapping_increment)

template<typename T , typename U , typename... Other>
std::tuple< const T &, const U &, const Other &... >	map_memory_tuple (size_t mapping_increment) const

template<typename T >
std::tuple< const T & >	map_memory_tuple (size_t mapping_increment) const

Private Attributes
std::vector< const PDOMapping * >	mappings_

uint8_t *	data_

bool	is_tx_

uint16_t	addr_

uint32_t	flags_

Constructor & Destructor Documentation

◆ PDOBuffer() [1/3]

ethercatcpp::coe::PDOBuffer::PDOBuffer ( )

delete

◆ PDOBuffer() [2/3]

ethercatcpp::coe::PDOBuffer::PDOBuffer	(	bool	is_tx,
		uint16_t	addr_,
		uint32_t	flags_
	)

◆ PDOBuffer() [3/3]

template<typename... T>

ethercatcpp::coe::PDOBuffer::PDOBuffer	(	bool	is_tx,
		uint16_t	addr,
		uint32_t	flags,
		T &&...	mappings
	)

inline

Member Function Documentation

◆ access_mapping()

const PDOMapping& ethercatcpp::coe::PDOBuffer::access_mapping ( size_t idx ) const

private

◆ add_mapping()

bool ethercatcpp::coe::PDOBuffer::add_mapping	(	const PDOMapping &	mapping,
		bool	may_throw = `false`
	)

add a mapping to the buffer

Parameters

mapping the mapping to add

Returns: true if mapping added false otherwise

◆ add_mappings()

template<typename... T>

void ethercatcpp::coe::PDOBuffer::add_mappings ( T &&... mappings )

inline

Fill buffer from a list of mappings.

Template Parameters

T	is a variadic template made of any number of PDOMapping

Parameters

mappings the list of PDO mappings

◆ assign()

bool ethercatcpp::coe::PDOBuffer::assign ( SlaveDevice & eth_slave ) const

Configure an ethercat unit device with the corresponding assigned PDO mappings.

this call is intended to be used in configuration function (configure_at_init()). Copared to configure() this function only performs assignment but no mapping definition.

Parameters

eth_slave the unit device to configure

Returns: true if configuration succeeded, false otherwise

See also: configure_at_init()

◆ bind()

void ethercatcpp::coe::PDOBuffer::bind ( uint8_t * data )

Bind the buffer to a memory zone.

Parameters

data	the pointer to the memory zone to bind

◆ bind_physical_buffer()

void ethercatcpp::coe::PDOBuffer::bind_physical_buffer ( SlaveDevice & eth_slave )

bind internal memory zone to the physical buffer of an ethercat slave

this function must be called during call to master init() function. To do so, use it in init_step function of the device. The call to define_physical_buffer() is not mandatory as long as the physical buffer has been correctly defined with same parameters (addr and flags) as those used in this object. After this call all "map_memory" functions can be used.

Parameters

eth_slave the target unit device

See also: map_memory()

◆ check_entry_throws()

void ethercatcpp::coe::PDOBuffer::check_entry_throws	(	const PDOMapping &	mapping,
		std::string_view	entry_name,
		size_t	bytes
	)		const

private

◆ check_mapping_size_throws()

void ethercatcpp::coe::PDOBuffer::check_mapping_size_throws	(	const PDOMapping &	mapping,
		size_t	bytes
	)		const

private

◆ check_mapping_throws()

void ethercatcpp::coe::PDOBuffer::check_mapping_throws ( const PDOMapping & mapping ) const

private

◆ compute_shift()

size_t ethercatcpp::coe::PDOBuffer::compute_shift	(	const PDOMapping &	mapping,
		std::string_view	entry_name
	)		const

private

◆ configure()

bool ethercatcpp::coe::PDOBuffer::configure ( SlaveDevice & eth_slave ) const

Configure an ethercat unit device with the corresponding buffer and mappings.

this call is intended to be used in configuration function (configure_at_init()). If your code use predefined mappings and assignment simply do not call this function.

Parameters

eth_slave the unit device to configure

Returns: true if configuration succeeded, false otherwise

See also: configure_at_init()

◆ contains_mapping()

bool ethercatcpp::coe::PDOBuffer::contains_mapping ( const PDOMapping & mapping ) const

Tell whether the buffer contains a given mapping.

Parameters

mapping the mapping to check

Returns: true if it contains the mapping, false otherwise

◆ define_physical_buffer()

void ethercatcpp::coe::PDOBuffer::define_physical_buffer ( SlaveDevice & eth_slave )

define the physical buffer of an ethercat slave

only advantage using this function is to avoid problem with memory size. This function is intended to be called at unit device construction time

Parameters

eth_slave the target unit device

◆ entry_memory_shift()

size_t ethercatcpp::coe::PDOBuffer::entry_memory_shift	(	const PDOMapping &	mapping,
		std::string_view	entry
	)		const

Get the shift in buffer memory to access a mapping entry data.

Parameters

mapping	the mapping defining the entry
entry	the name of the entry

Returns: size_t the number of bytes to shift

◆ map_memory() [1/8]

template<typename T , typename U , typename... Other>

std::tuple<T&, U&, Other&...> ethercatcpp::coe::PDOBuffer::map_memory ( )

inline

Map the entire buffer to a typed reference.

Template Parameters

T	type of the mapped reference

Returns: reference to the memory zone containing the variable of type T

See also: bind_physical_buffer()

◆ map_memory() [2/8]

template<typename T >

T& ethercatcpp::coe::PDOBuffer::map_memory ( )

inline

Map the entire buffer to a typed reference.

Template Parameters

T	type of the mapped reference

Returns: reference to the memory zone containing the variable of type T

See also: bind_physical_buffer()

◆ map_memory() [3/8]

template<typename T , typename U , typename... Other>

std::tuple<const T&, const U&, const Other&...> ethercatcpp::coe::PDOBuffer::map_memory ( ) const

inline

Map the entire buffer to a typed const reference.

Template Parameters

T	type of the mapped reference

Returns: const reference to the memory zone containing the variable of type T

See also: bind_physical_buffer()

◆ map_memory() [4/8]

template<typename T >

const T& ethercatcpp::coe::PDOBuffer::map_memory ( ) const

inline

Map the entire buffer to a typed rconst eference.

Template Parameters

T	type of the mapped reference

Returns: const reference to the memory zone containing the variable of type T

See also: bind_physical_buffer()

◆ map_memory() [5/8]

template<typename T >

T& ethercatcpp::coe::PDOBuffer::map_memory ( const PDOMapping & mapping )

inline

Map a mapping to a typed reference.

Template Parameters

T	type of the mapped reference

Returns: reference to the memory zone containing the mapping of type T

See also: bind_physical_buffer()

◆ map_memory() [6/8]

template<typename T >

const T& ethercatcpp::coe::PDOBuffer::map_memory ( const PDOMapping & mapping ) const

inline

Map a mapping to a typed reference.

Template Parameters

T	type of the mapped reference

Returns: reference to the memory zone containing the mapping of type T

See also: bind_physical_buffer()

◆ map_memory() [7/8]

template<typename T >

T& ethercatcpp::coe::PDOBuffer::map_memory	(	const PDOMapping &	mapping,
		std::string_view	entry_name
	)

inline

Map the entry of a mapping to a typed reference.

Template Parameters

T	type of the mapped reference

Returns: reference to the memory zone containing the variable

See also: bind_physical_buffer()

◆ map_memory() [8/8]

template<typename T >

const T& ethercatcpp::coe::PDOBuffer::map_memory	(	const PDOMapping &	mapping,
		std::string_view	entry_name
	)		const

inline

Map the entry of a mapping to a typed const reference.

Template Parameters

T	type of the mapped reference

Returns: const reference to the memory zone containing the variable

See also: bind_physical_buffer()

◆ map_memory_internal() [1/4]

uint8_t* ethercatcpp::coe::PDOBuffer::map_memory_internal	(	const PDOMapping &	mapping,
		size_t	bytes
	)

private

◆ map_memory_internal() [2/4]

const uint8_t* ethercatcpp::coe::PDOBuffer::map_memory_internal	(	const PDOMapping &	mapping,
		size_t	bytes
	)		const

private

◆ map_memory_internal() [3/4]

uint8_t* ethercatcpp::coe::PDOBuffer::map_memory_internal	(	const PDOMapping &	mapping,
		std::string_view	entry_name,
		size_t	bytes
	)

private

◆ map_memory_internal() [4/4]

const uint8_t* ethercatcpp::coe::PDOBuffer::map_memory_internal	(	const PDOMapping &	mapping,
		std::string_view	entry_name,
		size_t	bytes
	)		const

private

◆ map_memory_tuple() [1/4]

template<typename T >

std::tuple<T&> ethercatcpp::coe::PDOBuffer::map_memory_tuple ( size_t mapping_increment )

inlineprivate

◆ map_memory_tuple() [2/4]

template<typename T , typename U , typename... Other>

std::tuple<T&, U&, Other&...> ethercatcpp::coe::PDOBuffer::map_memory_tuple ( size_t mapping_increment )

inlineprivate

◆ map_memory_tuple() [3/4]

template<typename T , typename U , typename... Other>

std::tuple<const T&, const U&, const Other&...> ethercatcpp::coe::PDOBuffer::map_memory_tuple ( size_t mapping_increment ) const

inlineprivate

◆ map_memory_tuple() [4/4]

template<typename T >

std::tuple<const T&> ethercatcpp::coe::PDOBuffer::map_memory_tuple ( size_t mapping_increment ) const

inlineprivate

◆ mapping_memory_shift()

size_t ethercatcpp::coe::PDOBuffer::mapping_memory_shift ( const PDOMapping & mapping ) const

Get the shift in buffer memory to access mapping data.

Parameters

mapping the mapping to get shifting for

Returns: size_t the number of bytes to shift

◆ memory_size()

uint16_t ethercatcpp::coe::PDOBuffer::memory_size ( ) const

Get size of the buffer in memory.

this function can be used when calling define_physical_buffer to set the adequate size

Returns: the size of the buffer

Member Data Documentation

◆ addr_

uint16_t ethercatcpp::coe::PDOBuffer::addr_

private

◆ data_

uint8_t* ethercatcpp::coe::PDOBuffer::data_

private

◆ flags_

uint32_t ethercatcpp::coe::PDOBuffer::flags_

private

◆ is_tx_

bool ethercatcpp::coe::PDOBuffer::is_tx_

private

◆ mappings_

std::vector<const PDOMapping*> ethercatcpp::coe::PDOBuffer::mappings_

private

The documentation for this class was generated from the following file:

coe_utilities.h

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ PDOBuffer() [1/3]

◆ PDOBuffer() [2/3]

◆ PDOBuffer() [3/3]

Member Function Documentation

◆ access_mapping()

◆ add_mapping()

◆ add_mappings()

◆ assign()

◆ bind()

◆ bind_physical_buffer()

◆ check_entry_throws()

◆ check_mapping_size_throws()

◆ check_mapping_throws()

◆ compute_shift()

◆ configure()

◆ contains_mapping()

◆ define_physical_buffer()

◆ entry_memory_shift()

◆ map_memory() [1/8]

◆ map_memory() [2/8]

◆ map_memory() [3/8]

◆ map_memory() [4/8]

◆ map_memory() [5/8]

◆ map_memory() [6/8]

◆ map_memory() [7/8]

◆ map_memory() [8/8]

◆ map_memory_internal() [1/4]

◆ map_memory_internal() [2/4]

◆ map_memory_internal() [3/4]

◆ map_memory_internal() [4/4]

◆ map_memory_tuple() [1/4]

◆ map_memory_tuple() [2/4]

◆ map_memory_tuple() [3/4]

◆ map_memory_tuple() [4/4]

◆ mapping_memory_shift()

◆ memory_size()

Member Data Documentation

◆ addr_

◆ data_

◆ flags_

◆ is_tx_

◆ mappings_