Classes
class	Device
	Abstract interface representing a generic device. More...

class	Parameter
	Represents a device parameter identified by index and subindex. More...

struct	PdoMappingEntry
	Represents a single PDO (Process Data Object) mapping entry. More...

struct	PdoMappings
	Represents the mapped PDO entries for a slave device. More...

struct	UiConfigJson
	Top-level UI configuration JSON structure. More...

struct	UiPdoMapping
	Represents the PDO mapping for RX and TX channels. More...

Typedefs
using	ParameterKey = std::pair< uint16_t, uint8_t >
	Alias for a pair of uint16_t and uint8_t representing a parameter key. More...

using	ParameterValue = std::variant< bool, std::int8_t, std::int16_t, std::int32_t, std::int64_t, std::uint8_t, std::uint16_t, std::uint32_t, std::uint64_t, float, double, std::string, std::vector< std::uint8_t > >

Enumerations
enum class	EtherCATVendorID : uint32_t { SYNAPTICON = 0x000022d2 }
	Enum class representing EtherCAT vendor IDs. More...

enum class	ObjectFlags : uint16_t { None = 0x0000 , PO_RD = 0x0001 , SO_RD = 0x0002 , OP_RD = 0x0004 , ALL_RD = PO_RD \| SO_RD \| OP_RD , PO_WR = 0x0008 , SO_WR = 0x0010 , OP_WR = 0x0020 , ALL_WR = PO_WR \| SO_WR \| OP_WR , PO_RDWR = PO_RD \| PO_WR , SO_RDWR = SO_RD \| SO_WR , OP_RDWR = OP_RD \| OP_WR , ALL_RDWR = PO_RDWR \| SO_RDWR \| OP_RDWR , RXPDO_MAP = 0x0040 , TXPDO_MAP = 0x0080 , RXTXPDO_MAP = 0x00C0 , BACKUP = 0x0100 , STARTUP = 0x0200 , ALL_LIST_FLAGS = RXPDO_MAP \| TXPDO_MAP \| BACKUP \| STARTUP }
	Enum class representing various object flags. More...

enum class	ObjectDataType : uint16_t { UNSPECIFIED = 0x0000 , BOOLEAN = 0x0001 , BYTE = 0x001E , WORD = 0x001F , DWORD = 0x0020 , BIT1 = 0x0030 , BIT2 = 0x0031 , BIT3 = 0x0032 , BIT4 = 0x0033 , BIT5 = 0x0034 , BIT6 = 0x0035 , BIT7 = 0x0036 , BIT8 = 0x0037 , BIT9 = 0x0038 , BIT10 = 0x0039 , BIT11 = 0x003A , BIT12 = 0x003B , BIT13 = 0x003C , BIT14 = 0x003D , BIT15 = 0x003E , BIT16 = 0x003F , BITARR8 = 0x002D , BITARR16 = 0x002E , BITARR32 = 0x002F , INTEGER8 = 0x0002 , INTEGER16 = 0x0003 , INTEGER24 = 0x0010 , INTEGER32 = 0x0004 , INTEGER40 = 0x0012 , INTEGER48 = 0x0013 , INTEGER56 = 0x0014 , INTEGER64 = 0x0015 , UNSIGNED8 = 0x0005 , UNSIGNED16 = 0x0006 , UNSIGNED24 = 0x0016 , UNSIGNED32 = 0x0007 , UNSIGNED40 = 0x0018 , UNSIGNED48 = 0x0019 , UNSIGNED56 = 0x001A , UNSIGNED64 = 0x001B , REAL32 = 0x0008 , REAL64 = 0x0011 , GUID = 0x001D , VISIBLE_STRING = 0x0009 , OCTET_STRING = 0x000A , UNICODE_STRING = 0x000B , ARRAY_OF_INT = 0x0260 , ARRAY_OF_SINT = 0x0261 , ARRAY_OF_DINT = 0x0262 , ARRAY_OF_UDINT = 0x0263 , PDO_MAPPING = 0x0021 , IDENTITY = 0x0023 , COMMAND_PAR = 0x0025 , PDO_PARAMETER = 0x0027 , ENUM = 0x0028 , SM_SYNCHRONIZATION , RECORD = 0x002A , BACKUP_PARAMETER = 0x002B , MODULAR_DEVICE_PARAMETER = 0x002C , ERROR_SETTING = 0x0281 , DIAGNOSIS_HISTORY , EXTERNAL_SYNC_STATUS = 0x0283 , EXTERNAL_SYNC_SETTINGS = 0x0284 , DEFTYPE_FSOEFRAME = 0x0285 , DEFTYPE_FSOECOMMPAR , TIME_OF_DAY = 0x000C , TIME_DIFFERENCE , UTYPE_START = 0x0800 , UTYPE_END = 0x0FFF }
	Enumerates the supported data types for parameters. More...

enum class	ObjectCode : uint16_t { DEFTYPE = 0x0005 , DEFSTRUCT = 0x0006 , VAR = 0x0007 , ARRAY = 0x0008 , RECORD = 0x0009 }
	Enum class representing different object types used in the EtherCAT protocol. More...

Functions
void	from_json (const nlohmann::json &j, UiPdoMapping &p)
	Deserialize a JSON object into a UiPdoMapping structure. More...

void	from_json (const nlohmann::json &j, UiConfigJson &r)
	Deserialize a JSON object into a UiConfigJson structure. More...

std::string	convertParameterValueToString (const ParameterValue &value)
	Converts a ParameterValue to a string representation. More...

void	logParametersMap (const std::unordered_map< std::pair< uint16_t, uint8_t >, Parameter > &parametersMap, bool sortParameters=true)
	Logs the contents of a map of parameters with an option to sort them. More...

std::vector< uint8_t >	readBinaryFile (const std::string &filename)
	Reads the contents of a binary file into a vector of uint8_t. More...

std::string	joinStrings (const std::vector< std::string > &list, const std::string &delimiter)
	Joins a list of strings into a single string with a delimiter. More...

std::string	formatMacAddress (const std::string &originalMacAddress)
	Formats a MAC address string to ensure each component is two digits and uppercase. More...

template<typename T >
T	parseHex (const std::string &s)
	Parses a hexadecimal string into an unsigned integer of type T. More...

bool	operator== (uint32_t lhs, EtherCATVendorID rhs)
	Compares a uint32_t value with an EtherCATVendorID enum value. More...

bool	operator== (EtherCATVendorID lhs, uint32_t rhs)
	Compares an EtherCATVendorID enum value with a uint32_t value. More...

ObjectFlags	operator\| (ObjectFlags lhs, ObjectFlags rhs)
	Bitwise OR operator for ObjectFlags enum class. More...

ObjectFlags	operator& (ObjectFlags lhs, ObjectFlags rhs)
	Bitwise AND operator for ObjectFlags enum class. More...

ObjectFlags &	operator\|= (ObjectFlags &lhs, ObjectFlags rhs)
	Bitwise OR assignment operator for ObjectFlags enum class. More...

ObjectFlags	SetObjectFlags (ObjectFlags b, ObjectFlags s, ObjectFlags p, ObjectFlags a)
	Combine multiple `ObjectFlags` values into one. More...

template<typename T >
bool	stringViewToNumber (std::string_view sv, T &result)
	Converts a string_view to a numeric type. More...

template<typename T >
std::vector< uint8_t >	toBytes (T value, bool bigEndian=false)
	Converts a value of type T to a vector of bytes (uint8_t) in the specified byte order. More...

std::string	makeParameterId (int index, int subindex)
	Formats the given index and subindex into a parameter identifier string. More...

std::string	bytesToHexString (const std::vector< uint8_t > &data)
	Converts a vector of bytes into a space-separated hexadecimal string. More...

Typedef Documentation

◆ ParameterKey

using common::ParameterKey = typedef std::pair<uint16_t, uint8_t>

Alias for a pair of uint16_t and uint8_t representing a parameter key.

This alias simplifies the use of a std::pair<uint16_t, uint8_t>, where the first element (uint16_t) represents the index, and the second element (uint8_t) represents the subindex in a parameter lookup.

◆ ParameterValue

using common::ParameterValue = typedef std::variant<bool, std::int8_t, std::int16_t, std::int32_t, std::int64_t, std::uint8_t, std::uint16_t, std::uint32_t, std::uint64_t, float, double, std::string, std::vector<std::uint8_t> >

Alias for a variant type holding multiple value types.

Enumeration Type Documentation

◆ EtherCATVendorID

enum class common::EtherCATVendorID : uint32_t

strong

Enum class representing EtherCAT vendor IDs.

This enum class defines vendor IDs for EtherCAT devices, with each vendor ID being represented by a unique 32-bit unsigned integer value. It is used to identify different EtherCAT vendors in the system.

Enumerator

SYNAPTICON

Vendor ID for Synapticon GmbH.

Synapticon GmbH provides high-performance and compact servo drives. Vendor ID for Synapticon GmbH

◆ ObjectCode

enum class common::ObjectCode : uint16_t

strong

Enum class representing different object types used in the EtherCAT protocol.

This enum class defines various object types that represent the kind of object in an EtherCAT device. Each value corresponds to a specific type of object, such as a definition, variable, array, or record, in the EtherCAT protocol.

Enumerator
DEFTYPE	Definition type object.
DEFSTRUCT	Definition structure object.
VAR	Variable object type.
ARRAY	Array object type.
RECORD	Record object type.

◆ ObjectDataType

enum class common::ObjectDataType : uint16_t

strong

Enumerates the supported data types for parameters.

This enumeration defines the various data types that parameters can use. Each entry is explicitly mapped to a 16-bit unsigned integer value. It includes basic types such as integers, floating-point numbers, strings, time-related types, bitfields, and user-defined types.

Note: The values in this enumeration are defined in the ETG.1020 document, which outlines the EtherCAT protocol and its supported data types.

Enumerator
UNSPECIFIED	Undefined or unknown data type.
BOOLEAN	Boolean value (true or false).
BYTE	8-bit unsigned integer.
WORD	Two octets (16 bits) unsigned integer.
DWORD	Four octets (32 bits) unsigned integer.
BIT1	1-bit field.
BIT2	2-bit field.
BIT3	3-bit field.
BIT4	4-bit field.
BIT5	5-bit field.
BIT6	6-bit field.
BIT7	7-bit field.
BIT8	8-bit field.
BIT9	9-bit field.
BIT10	10-bit field.
BIT11	11-bit field.
BIT12	12-bit field.
BIT13	13-bit field.
BIT14	14-bit field.
BIT15	15-bit field.
BIT16	16-bit field.
BITARR8	Array of 8 bits.
BITARR16	Array of 16 bits.
BITARR32	Array of 32 bits.
INTEGER8	8-bit signed integer.
INTEGER16	16-bit signed integer.
INTEGER24	24-bit signed integer.
INTEGER32	32-bit signed integer.
INTEGER40	40-bit signed integer.
INTEGER48	48-bit signed integer.
INTEGER56	56-bit signed integer.
INTEGER64	64-bit signed integer.
UNSIGNED8	8-bit unsigned integer.
UNSIGNED16	16-bit unsigned integer.
UNSIGNED24	24-bit unsigned integer.
UNSIGNED32	32-bit unsigned integer.
UNSIGNED40	40-bit unsigned integer.
UNSIGNED48	48-bit unsigned integer.
UNSIGNED56	56-bit unsigned integer.
UNSIGNED64	64-bit unsigned integer.
REAL32	32-bit floating-point number.
REAL64	64-bit floating-point number (double).
GUID	128-bit globally unique identifier.
VISIBLE_STRING	Null-terminated ASCII string.
OCTET_STRING	Array of raw bytes.
UNICODE_STRING	Null-terminated Unicode string (UTF-16/UTF-32 depending on platform).
ARRAY_OF_INT	Sequence of INT.
ARRAY_OF_SINT	Sequence of SINT.
ARRAY_OF_DINT	Sequence of DINT.
ARRAY_OF_UDINT	Sequence of UDINT.
PDO_MAPPING	For PDO_MAPPING definition see ETG.1000.
IDENTITY	For IDENTITY definition see ETG.1000.
COMMAND_PAR	For COMMAND_PAR definition see ETG.1000.
PDO_PARAMETER	For PDO_PARAMETER definition see ETG.1020.
ENUM	For ENUM definition see ETG.1020.
SM_SYNCHRONIZATION	For SM_SYNCHRONIZATION definition see ETG.1000.
RECORD	No pre-defined Record structure. Can be used as a general data type for Records.
BACKUP_PARAMETER	For BACKUP_PARAMETER definition see ETG.1020.
MODULAR_DEVICE_PARAMETER	For MODULAR_DEVICE_PARAMETER definition see ETG.5001
ERROR_SETTING	For ERROR_SETTING definition see ETG.1020.
DIAGNOSIS_HISTORY	For DIAGNOSIS_HISTORY definition see ETG.1020.
EXTERNAL_SYNC_STATUS	For EXTERNAL_SYNC_STATUS definition see ETG.1020
EXTERNAL_SYNC_SETTINGS	For EXTERNAL_SYNC_SETTINGS definition see ETG.1020
DEFTYPE_FSOEFRAME	For DEFTYPE_FSOEFRAME definition see ETG.5120
DEFTYPE_FSOECOMMPAR	For DEFTYPE_FSOECOMMPAR definition see ETG.5120
TIME_OF_DAY	Time of day format (implementation-defined).
TIME_DIFFERENCE	Time difference format (implementation-defined).
UTYPE_START	Start of user-defined type range.
UTYPE_END	End of user-defined type range.

◆ ObjectFlags

enum class common::ObjectFlags : uint16_t

strong

Enum class representing various object flags.

This enum class defines different flags used for controlling access, mapping, and other attributes. It is represented as a 16-bit unsigned integer.

Enumerator
None
PO_RD
SO_RD
OP_RD
ALL_RD
PO_WR
SO_WR
OP_WR
ALL_WR
PO_RDWR
SO_RDWR
OP_RDWR
ALL_RDWR
RXPDO_MAP
TXPDO_MAP
RXTXPDO_MAP
BACKUP
STARTUP
ALL_LIST_FLAGS

Function Documentation

◆ bytesToHexString()

std::string common::bytesToHexString ( const std::vector< uint8_t > & data )

inline

Converts a vector of bytes into a space-separated hexadecimal string.

Each byte is formatted as "0xXX" using lowercase hexadecimal digits, with two-digit zero-padded formatting. The resulting string has each byte separated by a single space.

Example: Input: {0xFF, 0x01, 0x0a} Output: "0xff 0x01 0x0a"

Parameters

data	The vector of bytes to convert.

Returns: A string representing the bytes in hexadecimal format.

◆ convertParameterValueToString()

std::string common::convertParameterValueToString ( const ParameterValue & value )

Converts a ParameterValue to a string representation.

This function uses std::visit to convert the given ParameterValue (a std::variant of numeric and string types) to a human-readable string.

bool values are converted to "true" or "false".
Integral and floating-point values are converted using std::to_string().
std::string values are returned as-is.

Parameters

value The parameter value to convert.

Returns: A string representation of the value.

◆ formatMacAddress()

std::string common::formatMacAddress ( const std::string & originalMacAddress )

Formats a MAC address string to ensure each component is two digits and uppercase.

This function takes a MAC address string in formats such as "a-b-c-d-e-f" or "a:b:c:d:e:f", and returns a standardized format like "0A:0B:0C:0D:0E:0F". It ensures that each component is two characters long (adding leading zeros if necessary), uses ':' as the delimiter, and converts all letters to uppercase.

Parameters

originalMacAddress The input MAC address string, using either ':' or '-' as delimiter.

Returns: A formatted MAC address string with two-digit uppercase hexadecimal components, separated by colons.

◆ from_json() [1/2]

void common::from_json	(	const nlohmann::json &	j,
		UiConfigJson &	r
	)

Deserialize a JSON object into a UiConfigJson structure.

Extracts the "pdoMapping" field from the JSON object and converts it into a UiPdoMapping instance, which is assigned to the pdoMapping member.

Parameters

j	JSON object expected to contain a "pdoMapping" field.
r	Reference to UiConfigJson struct to populate.

◆ from_json() [2/2]

void common::from_json	(	const nlohmann::json &	j,
		UiPdoMapping &	p
	)

Deserialize a JSON object into a UiPdoMapping structure.

This function parses the JSON object representing the PDO mappings, extracting the "rx" and "tx" maps. The JSON keys are hex strings (e.g., "0x1600") which are converted to uint16_t keys in the maps. The values are arrays of hex strings representing uint32_t entries.

Parameters

j	JSON object expected to contain "rx" and "tx" mappings.
p	Reference to UiPdoMapping struct to populate with parsed data.

◆ joinStrings()

std::string common::joinStrings	(	const std::vector< std::string > &	list,
		const std::string &	delimiter
	)

Joins a list of strings into a single string with a delimiter.

Concatenates all elements in the given vector of strings, inserting the specified delimiter between each element. If the list is empty, returns an empty string.

Parameters

list	The vector of strings to join.
delimiter	The delimiter to insert between each string.

Returns: A single string composed of the input strings separated by the delimiter.

◆ logParametersMap()

void common::logParametersMap	(	const std::unordered_map< std::pair< uint16_t, uint8_t >, Parameter > &	parametersMap,
		bool	sortParameters = `true`
	)

Logs the contents of a map of parameters with an option to sort them.

This function takes a map of parameters indexed by (index, subindex) pairs, optionally sorts them by index and subindex (based on the sortParameters flag), and logs each parameter's details including its name, access type, bit length, and other relevant information.

If the sortParameters flag is true, the parameters will be sorted by index and subindex before logging. If sortParameters is false, the parameters will be logged in their original order as they appear in the map.

Parameters

parametersMap	A map where each key is a pair of (index, subindex) and the value is a Parameter object containing metadata.
sortParameters	A boolean flag indicating whether to sort the parameters before logging. Default is true. If true, the parameters are sorted by index and subindex; if false, they are logged in their original order.

◆ makeParameterId()

std::string common::makeParameterId	(	int	index,
		int	subindex
	)

inline

Formats the given index and subindex into a parameter identifier string.

This function takes an index and a subindex and formats them into a string of the form "0xINDEX:SUBINDEX". The index is formatted as a 4-digit hexadecimal number, and the subindex is formatted as a 2-digit hexadecimal number.

Parameters

index	The 16-bit index value (e.g., 0x2030).
subindex	The 8-bit subindex value (e.g., 0x01).

Returns: std::string The formatted parameter ID string in the format "0xINDEX:SUBINDEX".

◆ operator&()

ObjectFlags common::operator&	(	ObjectFlags	lhs,
		ObjectFlags	rhs
	)

inline

Bitwise AND operator for ObjectFlags enum class.

This operator allows for checking the intersection of two ObjectFlags values using the bitwise AND operator.

Parameters

lhs	Left-hand operand of the bitwise AND operation.
rhs	Right-hand operand of the bitwise AND operation.

Returns: The result of the bitwise AND operation as an ObjectFlags value.

◆ operator==() [1/2]

bool common::operator==	(	EtherCATVendorID	lhs,
		uint32_t	rhs
	)

inline

Compares an EtherCATVendorID enum value with a uint32_t value.

This operator allows comparison between an EtherCATVendorID enum value and a raw vendor ID (uint32_t). It converts the enum value to its underlying uint32_t type for the comparison.

Parameters

lhs	The EtherCATVendorID enum value to compare.
rhs	The raw vendor ID as a uint32_t.

Returns: true if the enum value matches the vendor ID, false otherwise.

◆ operator==() [2/2]

bool common::operator==	(	uint32_t	lhs,
		EtherCATVendorID	rhs
	)

inline

Compares a uint32_t value with an EtherCATVendorID enum value.

This operator allows comparison between a raw vendor ID (uint32_t) and an EtherCATVendorID enum value. It converts the enum to its underlying uint32_t type for the comparison.

Parameters

lhs	The raw vendor ID as a uint32_t.
rhs	The EtherCATVendorID enum value to compare.

Returns: true if the vendor ID matches the enum value, false otherwise.

◆ operator|()

ObjectFlags common::operator\|	(	ObjectFlags	lhs,
		ObjectFlags	rhs
	)

inline

Bitwise OR operator for ObjectFlags enum class.

This operator allows for combining two ObjectFlags values using the bitwise OR operator.

Parameters

lhs	Left-hand operand of the bitwise OR operation.
rhs	Right-hand operand of the bitwise OR operation.

Returns: The result of the bitwise OR operation as an ObjectFlags value.

◆ operator|=()

ObjectFlags & common::operator\|=	(	ObjectFlags &	lhs,
		ObjectFlags	rhs
	)

inline

Bitwise OR assignment operator for ObjectFlags enum class.

This operator allows the modification of an ObjectFlags value by OR'ing it with another.

Parameters

lhs	Left-hand operand, which will be modified with the OR operation.
rhs	Right-hand operand to OR with the left-hand operand.

Returns: The modified left-hand operand as an ObjectFlags value.

◆ parseHex()

template<typename T >

T common::parseHex ( const std::string & s )

Parses a hexadecimal string into an unsigned integer of type T.

This function converts a hex string (e.g., "0x1A3F" or "1A3F") to an unsigned integer of the specified type T. It supports any unsigned integer type such as uint16_t, uint32_t, uint64_t, etc.

The function uses std::stoul for types up to the size of unsigned long, and std::stoull for larger types (e.g., uint64_t).

Template Parameters

T	The unsigned integer type to parse to. Must be an unsigned integral type.

Parameters

s	The hexadecimal string to parse.

Returns: Parsed value as type T.

Exceptions

std::invalid_argument	if the string is not a valid hex number.
std::out_of_range	if the parsed value is out of range for type T.

◆ readBinaryFile()

std::vector< uint8_t > common::readBinaryFile ( const std::string & filename )

Reads the contents of a binary file into a vector of uint8_t.

This function opens the specified file in binary mode and reads its content into a std::vector<uint8_t>. It uses std::istreambuf_iterator to read the entire file efficiently. If the file cannot be opened, a std::runtime_error is thrown.

Parameters

filename The path to the file to be read.

Returns: A std::vector<uint8_t> containing the file's content.

Exceptions

std::runtime_error If the file cannot be opened.

◆ SetObjectFlags()

ObjectFlags common::SetObjectFlags	(	ObjectFlags	b,
		ObjectFlags	s,
		ObjectFlags	p,
		ObjectFlags	a
	)

inline

Combine multiple ObjectFlags values into one.

This function is a convenience method that combines multiple ObjectFlags values by OR'ing them together.

Parameters

b	First `ObjectFlags` value.
s	Second `ObjectFlags` value.
p	Third `ObjectFlags` value.
a	Fourth `ObjectFlags` value.

Returns: The result of combining the four ObjectFlags values as a single ObjectFlags value.

◆ stringViewToNumber()

template<typename T >

bool common::stringViewToNumber	(	std::string_view	sv,
		T &	result
	)

Converts a string_view to a numeric type.

This function uses std::from_chars to convert a given std::string_view into a numeric value of type T. The conversion is done without allocating memory, and the function returns true if the conversion succeeds, false otherwise.

Template Parameters

T	The numeric type to convert the string_view to (e.g., int, long, double).

Parameters

sv	The string_view representing the numeric string to be converted.
result	The variable where the result of the conversion will be stored.

Returns: True if the conversion was successful, false otherwise.

Note: This function only supports arithmetic types (integers and floating-point types).

◆ toBytes()

template<typename T >

std::vector< uint8_t > common::toBytes	(	T	value,
		bool	bigEndian = `false`
	)

Converts a value of type T to a vector of bytes (uint8_t) in the specified byte order.

This function converts a trivially copyable value to its byte representation and returns the result as a vector of uint8_t. The resulting byte order can be controlled explicitly by passing either little-endian or big-endian.

Template Parameters

T	The type of the value to convert. It must be trivially copyable.

Parameters

value	The value to convert to bytes.
bigEndian	If true, the returned byte vector will be in big-endian order; if false, little-endian.

Returns: A vector of uint8_t containing the byte representation of the value in the specified byte order.

Exceptions

static_assert If the type T is not trivially copyable.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ParameterKey

◆ ParameterValue

Enumeration Type Documentation

◆ EtherCATVendorID

◆ ObjectCode

◆ ObjectDataType

◆ ObjectFlags

Function Documentation

◆ bytesToHexString()

◆ convertParameterValueToString()

◆ formatMacAddress()

◆ from_json() [1/2]

◆ from_json() [2/2]

◆ joinStrings()

◆ logParametersMap()

◆ makeParameterId()

◆ operator&()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ operator|()

◆ operator|=()

◆ parseHex()

◆ readBinaryFile()

◆ SetObjectFlags()

◆ stringViewToNumber()

◆ toBytes()