ecat_xml_v2_0.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2020 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_ECAT_XML_V2_0_H
#define MOTORCORTEX_CORE_ECAT_XML_V2_0_H
 
#include "ecat_xml.h"
 
namespace mcx::ecat {
 
class EtherCatXmlV2_0 : public EtherCatXml {
public:
  EtherCatXmlV2_0() = default;
 
  virtual ~EtherCatXmlV2_0() = default;
 
  // loads domain configuration from xml element
  EcatDomainConfig loadDomainConfig(tinyxml2::XMLElement* domain_xml, const std::string& path) const override;
 
private:
  static EcatDomainConfig loadDomain(const tinyxml2::XMLElement* domain_xml, const std::string& path, size_t& counter);
 
  static std::vector<EcatDeviceConfig> loadDevices(const tinyxml2::XMLElement* domain_xml, const std::string& path);
 
  static std::vector<EcatSyncInfo> loadSyncManagers(const tinyxml2::XMLElement* device_element,
                                                    const EcatDeviceInfo& info);
 
  static std::vector<EcatPdoInfo> loadPdos(const tinyxml2::XMLElement* device_element, EcatDirection dir,
                                           size_t sm_counter, bool check_sm);
 
  static std::vector<ParameterLink> loadLinks(const tinyxml2::XMLElement* pdo_element, EcatDirection direction);
 
  static std::vector<EcatPdoInfo> loadPdoEntries(const tinyxml2::XMLElement* pdo_element, const std::string& tag,
                                                 EcatDirection direction);
 
  static EcatDcInfo loadDistributedClock(const tinyxml2::XMLElement* device_element);
 
  static std::vector<EcatSdoConfig> loadServiceDataObjects(const tinyxml2::XMLElement* device_element, size_t position);
 
  static std::vector<EcatSdoConfig> loadServiceDataEntries(const tinyxml2::XMLElement* sdo_element, SdoDirection dir,
                                                           size_t position);
 
  static EcatSdoConfig loadServiceDataEntry(const tinyxml2::XMLElement* sdo_entry, SdoDirection dir, SdoType type,
                                            size_t position);
 
  static EcatDeviceInfo loadDeviceInfo(const tinyxml2::XMLElement* device_element);
 
  static DataTypeDesc getDataType(const tinyxml2::XMLElement* entry_element);
 
  static std::vector<EcatMailbox> loadMailboxes(const tinyxml2::XMLElement* device_element, const std::string& path);
 
  static std::tuple<bool, EcatMailbox> loadMailbox(const std::string& path);
 
  static std::tuple<bool, EcatMailbox> loadMailbox(const tinyxml2::XMLElement* mailbox_element);
 
  static std::tuple<bool, std::vector<EcatCoe>> loadCoe(const tinyxml2::XMLElement* mailbox_element);
 
  static std::tuple<bool, std::vector<EcatSoe>> loadSoe(const tinyxml2::XMLElement* mailbox_element);
};
 
} // namespace mcx::ecat
 
#endif // MOTORCORTEX_CORE_ECAT_XML_V2_0_H