ecat_xml_v1_0.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2015 - 2018 VECTIONEER.
 */
 
#ifndef ECAT_XML_V1_0_H
#define ECAT_XML_V1_0_H
 
#include "ecat_xml.h"
#include <algorithm>
#include <initializer_list>
#include <string>
 
namespace mcx::ecat {
 
class EtherCatXmlV1_0 : public EtherCatXml {
public:
  EtherCatXmlV1_0() = default;
 
  virtual ~EtherCatXmlV1_0() = default;
 
  // loads domain configuration from xml element
  EcatDomainConfig loadDomainConfig(tinyxml2::XMLElement* domain_xml, const std::string& path) const override;
 
private:
  // loads devices from etherlab xml file
  int loadTopologyXml(const std::string& path, const std::string& filename,
                      std::vector<EcatDevice>& device_config_list) const;
 
  bool loadSdoXml(tinyxml2::XMLElement* device, unsigned int device_id,
                  std::vector<EcatSdoConfig>* sdo_config_list) const;
 
  std::vector<EcatPdoInfo> loadDataMaps(tinyxml2::XMLElement* parent) const;
 
  bool loadPdoXml(tinyxml2::XMLElement* device, const EcatDevice& device_config,
                  std::vector<EcatSyncInfo>* sync_info_list) const;
 
  // loads mailbox configuration
  bool loadMailboxXml(tinyxml2::XMLElement* device, const EcatDevice& device_config, const std::string& path,
                      std::vector<EcatMailbox>* mailbox_config_list) const;
 
  bool loadDcXml(tinyxml2::XMLElement* device, const EcatDevice& device_config, EcatDcInfo* dc_config) const;
 
  // loading provided xml file with init parameters
  bool loadInitCmdXml(const std::string& path, const std::string& filename, EcatMailbox& mailbox_config) const;
 
  // loading mailbox xlm with SoE tag
  bool parseSoe(tinyxml2::XMLNode* soe_node, std::vector<EcatSoe>& soe) const;
 
  // loading mailbox xml with CoE tag
  bool parseCoe(tinyxml2::XMLNode* coe_node, std::vector<EcatCoe>& coe) const;
 
  // loading mailbox from csv file
  bool parseCsvCoe(const char* csv_file, std::vector<EcatCoe>& coe) const;
 
  double getNoErrorSec(tinyxml2::XMLElement* element) const;
 
  double getErrorSec(tinyxml2::XMLElement* element) const;
 
  bool getSdoRecovery(tinyxml2::XMLElement* element) const;
 
  bool getXmlAttrib(tinyxml2::XMLElement* element, const char* attrib, unsigned int& val) const;
 
  bool getXmlAttribHex(tinyxml2::XMLElement* element, const char* attrib, unsigned int& val) const;
 
  tinyxml2::XMLElement* getFirstDevice(tinyxml2::XMLNode* element) const;
 
  tinyxml2::XMLElement* getFirstSmElement(tinyxml2::XMLNode* element) const;
 
  tinyxml2::XMLElement* getFirstDcElement(tinyxml2::XMLNode* element) const;
 
  tinyxml2::XMLNode* getFirstPdoElement(tinyxml2::XMLNode* element) const;
 
  tinyxml2::XMLNode* nextSiblingPdoElement(tinyxml2::XMLNode* element) const;
 
  bool hasMapAll(const tinyxml2::XMLElement* element) const;
 
  bool getMapAll(const tinyxml2::XMLElement* element) const;
 
  EcatPdoId getPdoEntryId(tinyxml2::XMLElement* element, const std::string& element_name) const;
 
  EcatPdoId getSdoEntryId(tinyxml2::XMLElement* element) const;
 
  bool hasAlias(tinyxml2::XMLElement* element) const;
 
  bool getAlias(tinyxml2::XMLElement* element, unsigned int* alias, unsigned int* position) const;
 
  unsigned int getId(tinyxml2::XMLElement* element) const;
 
  unsigned int getSize(tinyxml2::XMLElement* element) const;
 
  EcatPdoInfo getDataMap(tinyxml2::XMLElement* element) const;
 
  ParameterLink getParameterLink(tinyxml2::XMLElement* element, ParameterLinkType type) const;
 
  unsigned int strToUIntHex(const char* str, bool force_hex = false) const;
 
  unsigned long strToULongHex(const char* str, bool force_hex = false) const;
 
  unsigned int getVendorId(tinyxml2::XMLNode* element) const;
 
  unsigned int getProductCode(tinyxml2::XMLNode* element) const;
 
  unsigned int getSyncManagerId(tinyxml2::XMLNode* pdo) const;
 
  unsigned int getIndex(tinyxml2::XMLNode* element) const;
 
  unsigned int getSubIndex(tinyxml2::XMLNode* element) const;
 
  unsigned int getBitLen(tinyxml2::XMLNode* element) const;
 
  const char* getDeviceName(tinyxml2::XMLNode* element) const;
 
  DataTypeDesc getDataType(tinyxml2::XMLNode* element) const; /* deprecated */
 
  DataTypeDesc getDataTypeAttr(tinyxml2::XMLElement* element) const;
 
  bool isRxPdo(tinyxml2::XMLNode* element) const;
 
  bool isTxPdo(tinyxml2::XMLNode* element) const;
 
  // device/slave config list helper functions
  bool getSyncInfo(const std::vector<EcatSyncInfo>& sync_info_list, unsigned int sm_index,
                   EcatSyncInfo*& sync_info) const;
 
  bool getSyncAndPdoInfo(const std::vector<EcatSyncInfo>& sync_info_list, unsigned int pdo_index,
                         EcatSyncInfo*& sm_info, EcatPdoInfo*& pdo_info) const;
 
  bool getSyncAndPdoAndEntryInfo(const std::vector<EcatSyncInfo>& sync_info_list, const EcatPdoId& pdo_id,
                                 EcatSyncInfo*& sm_info, EcatPdoInfo*& pdo_info, EcatPdoInfo*& entry_info) const;
 
  bool getPdoInfo(const std::vector<EcatPdoInfo>& pdo_info_list, unsigned int pdo_index, EcatPdoInfo*& pdo_info) const;
 
  bool getEntryInfo(const std::vector<EcatPdoInfo>& entry_info_list, unsigned int entry_index,
                    unsigned int entry_subindex, bool is_mapped, EcatPdoInfo*& entry_info) const;
 
  static unsigned int getPdoBitLength(const std::vector<EcatPdoInfo>& entry_info_list);
 
  inline static unsigned int getDeviceId(const EcatDevice& config_list_element);
 
  inline static unsigned int getDeviceId(const EcatDeviceConfig& config_list_element);
 
  template <typename T>
  bool findSlaveByDeviceId(const std::vector<T>& config_list, unsigned int device_id, T& config_list_element) const;
 
  template <typename T>
  bool getSlaveByDeviceId(const std::vector<T>& config_list, unsigned int device_id, T*& config_list_element_ptr) const;
};
 
inline unsigned int EtherCatXmlV1_0::getDeviceId(const EcatDevice& config_list_element) {
  return config_list_element.device_info.position;
}
 
inline unsigned int EtherCatXmlV1_0::getDeviceId(const EcatDeviceConfig& config_list_element) {
  return config_list_element.info.position;
}
 
} // namespace mcx::ecat
 
#endif /* ECAT_XML_V1_0_H */