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

class	DeviceManager
	Manages devices and performs cyclic process data exchange. More...

class	DeviceParameterRefresher
	Base class for periodically refreshing a set of device parameters in a background thread. More...

class	DeviceResponseException
	Exception thrown when a device responds with an error. More...

struct	MappedParameterValue
	Represents a single mapped parameter value. More...

struct	MappedParameterValues
	Holds collections of mapped parameter values for RX and TX directions. 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	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...

enum class	PdoMappingStatus { NOT_MAPPED , MAPPED_RX_PDO , MAPPED_TX_PDO }
	Represents the PDO mapping status of a parameter. More...

enum class	DeviceFileError : uint8_t { None = 0x00 , NotFound = 0x01 , AccessDenied = 0x02 , StorageFull = 0x03 , IllegalRequest = 0x04 , PacketNumber = 0x05 , AlreadyExists = 0x06 , NoUser = 0x07 , BootstrapOnly = 0x08 , NotBootstrap = 0x09 , NoRights = 0x0A , ProgramError = 0x0B , Busy = 0x0C , FilenameLength = 0x0D , Timeout = 0x0E , FlashBusy = 0x28 , SuccessAcknowledgement = 0x58 , CommunicationBridgeError = 0x63 , EmptyContent = 0xD0 , UnexpectedNullTerminator = 0xD1 , ZipFailure = 0xD2 , UnzipFailure = 0xD3 , FlashFailure = 0xD4 , WriteFailure = 0xD5 , RemoveFailure = 0xD6 , Unknown = 0xFF }
	Enumeration of possible device file-related error codes. 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	assignGroupsToParameters (std::vector< Parameter > &parameters)
	Assigns group names to parameters based on their index and subindex. More...

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

std::vector< std::uint8_t >	readCompleteDeviceFile (Device &device, const std::string &filename, const std::chrono::steady_clock::duration expiryTime=std::chrono::milliseconds(20000))
	Reads a file from the device, supporting both complete and multipart zipped files. More...

void	writeDeviceFileInOptionalParts (Device &device, const std::string &filename, const std::vector< std::uint8_t > &data, std::function< void(uint8_t, std::string)> progressCallback=nullptr, const std::chrono::steady_clock::duration expiryTime=std::chrono::milliseconds(30000))
	Write a file to a device, splitting it into parts if necessary. More...

void	removeDeviceFileOrParts (Device &device, const std::string &filename, const std::chrono::steady_clock::duration expiryTime=std::chrono::milliseconds(20000))
	Removes a file from the device, including handling multipart files if applicable. More...

void	writeFirmwarePackage (Device &device, const std::vector< std::uint8_t > &data, const std::vector< std::string > &skipFiles={}, std::function< void(uint8_t, std::string)> progressCallback=nullptr, const std::chrono::steady_clock::duration expiryTime=std::chrono::milliseconds(60000))
	Writes a firmware package to the given device. 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...

bool	isAppBinFile (const std::string &filename)
	Checks whether a given filename starts with "app_" and ends with ".bin". More...

bool	isComBinFile (const std::string &filename)
	Checks whether a given filename starts with "com_" and ends with ".bin". More...

bool	isFirmwareBinFile (const std::string &filename)
	Checks whether the given file is a firmware binary file. More...

std::string	deviceFileErrorToString (DeviceFileError error)
	Convert a DeviceFileError enum value to a human-readable string. More...

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

Variables
std::set< std::string >	kNonPartedFileNames
	Set of filenames that are always stored as complete files and can be read directly. More...

constexpr std::size_t	kDeviceFilePartSize

Typedef Documentation

◆ ParameterValue

using mm::comm::base::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

◆ DeviceFileError

enum class mm::comm::base::DeviceFileError : uint8_t

strong

Enumeration of possible device file-related error codes.

Enumerator
None
NotFound
AccessDenied
StorageFull
IllegalRequest
PacketNumber
AlreadyExists
NoUser
BootstrapOnly
NotBootstrap
NoRights
ProgramError
Busy
FilenameLength
Timeout
FlashBusy
SuccessAcknowledgement
CommunicationBridgeError
EmptyContent
UnexpectedNullTerminator
ZipFailure
UnzipFailure
FlashFailure
WriteFailure
RemoveFailure
Unknown

◆ EtherCATVendorID

enum class mm::comm::base::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 mm::comm::base::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 mm::comm::base::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 mm::comm::base::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

◆ PdoMappingStatus

enum class mm::comm::base::PdoMappingStatus

strong

Represents the PDO mapping status of a parameter.

This enum indicates whether a parameter is not mapped in any PDO, or if it is mapped as a receive (RX) or transmit (TX) PDO.

Enumerator
NOT_MAPPED	The parameter is not mapped in any PDO.
MAPPED_RX_PDO	The parameter is mapped as a Receive PDO.
MAPPED_TX_PDO	The parameter is mapped as a Transmit PDO.

Function Documentation

◆ assignGroupsToParameters()

void mm::comm::base::assignGroupsToParameters ( std::vector< Parameter > & parameters )

Assigns group names to parameters based on their index and subindex.

This function iterates over a list of parameters and assigns a group name to each, based on the presence of subitems within the same index:

Parameters with subindex 0 and no subitems receive an empty group name.
Parameters with subindex 0 that have subitems receive their own name as the group.
Parameters with subindex greater than 0 receive the group name of the subindex 0 parameter sharing the same index.

Parameters

parameters Vector of Parameter objects whose group fields will be updated in-place.

◆ convertParameterValueToString()

std::string mm::comm::base::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.

◆ deviceFileErrorToString()

std::string mm::comm::base::deviceFileErrorToString ( DeviceFileError error )

inline

Convert a DeviceFileError enum value to a human-readable string.

Parameters

error The DeviceFileError value to convert.

Returns: A std::string describing the error.

◆ from_json() [1/2]

void mm::comm::base::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 mm::comm::base::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.

◆ isAppBinFile()

bool mm::comm::base::isAppBinFile ( const std::string & filename )

inline

Checks whether a given filename starts with "app_" and ends with ".bin".

This function is used to determine if a file matches the expected naming pattern for application (firmware) binary files, such as "app_motion-drive-v5.4.1.bin".

Parameters

filename The name of the file to check.

Returns: true if the filename starts with "app_" and ends with ".bin", false otherwise.

◆ isComBinFile()

bool mm::comm::base::isComBinFile ( const std::string & filename )

inline

Checks whether a given filename starts with "com_" and ends with ".bin".

This function is used to determine if a file matches the expected naming pattern for communication (netX chip) binary files, such as "com_motion-drive-v5.4.1-9002-01.bin".

Parameters

filename The name of the file to check.

Returns: true if the filename starts with "com_" and ends with ".bin", false otherwise.

◆ isFirmwareBinFile()

bool mm::comm::base::isFirmwareBinFile ( const std::string & filename )

inline

Checks whether the given file is a firmware binary file.

This function returns true if the file is recognized as either an application binary (app_) or a communication binary (com_).

Parameters

filename The name of the file to check.

Returns: true if the file is a firmware binary; false otherwise.

◆ logParametersMap()

void mm::comm::base::logParametersMap	(	const std::unordered_map< Parameter::Address, 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 mm::comm::base::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 mm::comm::base::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 mm::comm::base::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 mm::comm::base::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 mm::comm::base::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 & mm::comm::base::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.

◆ readCompleteDeviceFile()

std::vector< std::uint8_t > mm::comm::base::readCompleteDeviceFile	(	Device &	device,
		const std::string &	filename,
		const std::chrono::steady_clock::duration	expiryTime = `std::chrono::milliseconds(20000)`
	)

Reads a file from the device, supporting both complete and multipart zipped files.

This function handles reading a file from the specified device, covering several cases:

If the file is listed as non-parted or its name starts with "hr_data", it is read directly.
If the filename does not end with ".zip", a direct read is attempted first.
If the direct read fails, the function tries to read the file as a multipart archive, composed of parts named <filename>.zip.partNNN. All available parts are read, concatenated, and then unzipped.

If the resulting content is empty or unzipping yields no files, the function throws a std::runtime_error.

Parameters

device	Reference to the device to read from.
filename	Name of the file to read.
expiryTime	Maximum duration to wait for the operation (default: 20 seconds).

Returns: A vector containing the uncompressed file content.

Exceptions

std::runtime_error	If the file is empty, missing, or the unzipped content is empty.
DeviceResponseException	If a device-specific error occurs during reading.
boost::system::system_error	If socket communication with the device fails.

Reads and concatenates multipart file segments from the device.

This lambda attempts to reconstruct a file split into multiple parts named using the pattern <filename>.zip.partNNN, where NNN is a zero-padded index. If the input filename does not already end with .zip, the extension is appended automatically.

Reading stops when a part file is missing or empty. All successfully read parts are concatenated in order and returned as a single byte buffer.

Parameters

filename The base name of the file to read (with or without ".zip").

Returns: std::vector<uint8_t> Concatenated file contents, or empty if no parts were read.

◆ removeDeviceFileOrParts()

void mm::comm::base::removeDeviceFileOrParts	(	Device &	device,
		const std::string &	filename,
		const std::chrono::steady_clock::duration	expiryTime = `std::chrono::milliseconds(20000)`
	)

Removes a file from the device, including handling multipart files if applicable.

This function attempts to remove the specified file from the device by:

Removing it directly if the filename is listed as non-parted.
Checking the device's file list and removing the file if found.
If the file is split into parts (named .zip.partXXX), removing all corresponding parts.

If no file or parts matching the filename are found, the function logs a warning and throws a std::runtime_error.

Parameters

device	Reference to the device from which the file will be removed.
filename	Name of the file to remove.
expiryTime	Maximum duration to wait for each removal operation before timing out. Defaults to 20 seconds.

◆ SetObjectFlags()

ObjectFlags mm::comm::base::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.

◆ writeDeviceFileInOptionalParts()

void mm::comm::base::writeDeviceFileInOptionalParts	(	Device &	device,
		const std::string &	filename,
		const std::vector< std::uint8_t > &	data,
		std::function< void(uint8_t, std::string)>	progressCallback = `nullptr`,
		const std::chrono::steady_clock::duration	expiryTime = `std::chrono::milliseconds(30000)`
	)

Write a file to a device, splitting it into parts if necessary.

This function writes a file to the given device, handling both small and large files.

Small files (≤ 9 KB) or files with special names are written directly.
Large files are compressed (if not already zipped) and split into parts due to device transfer limits, then each part is written separately.
In BOOT state, firmware files are renamed to predefined names to avoid filename length issues during flashing.

Progress can be tracked via an optional callback function receiving completion percentage (0–100).

Parameters

device	Reference to the device object to write to.
filename	Name of the file to write.
data	Raw file data to write.
progressCallback	Optional callback function called with progress percentage after each part.
expiryTime	Maximum duration to wait for each transfer operation before timing out. Defaults to 30 seconds.

Exceptions

std::runtime_error If compression fails or any error occurs during file writing.

◆ writeFirmwarePackage()

void mm::comm::base::writeFirmwarePackage	(	Device &	device,
		const std::vector< std::uint8_t > &	data,
		const std::vector< std::string > &	skipFiles = `{}`,
		std::function< void(uint8_t, std::string)>	progressCallback = `nullptr`,
		const std::chrono::steady_clock::duration	expiryTime = `std::chrono::milliseconds(60000)`
	)

Writes a firmware package to the given device.

Unzips the provided firmware package data and writes each file to the device, unless the file name matches an entry in the skip list. Supports parted writing and optional progress reporting.

Parameters

device	The target device to write the firmware files to.
data	The firmware package as a vector of bytes (expected to be a zip archive).
skipFiles	A list of file names to skip during the firmware update.
progressCallback	Optional callback to report progress (accepts a percentage [0–100]).
expiryTime	The maximum duration to wait for the operation to complete. Defaults to 60000 milliseconds.

Exceptions

std::runtime_error If no files are found in the package or if writing a file fails.

Variable Documentation

◆ kDeviceFilePartSize

constexpr std::size_t mm::comm::base::kDeviceFilePartSize

inlineconstexpr

Initial value:

=

9000

Default part size (in bytes) for device file operations. Due to the 9 KB transfer limit imposed by the IgH EtherCAT master.

◆ kNonPartedFileNames

std::set< std::string > mm::comm::base::kNonPartedFileNames

Initial value:

= {
    ".assembly_config", ".factory_config",  "config.csv",
    "fs-buffer",        "fs-getlist",       "fs-remove",
    "logging_curr.log", "logging_prev.log", "plant_model.csv",
    "ui.config.json",   ".variant"}

Set of filenames that are always stored as complete files and can be read directly.

This constant defines a collection of specific filenames that are known to be stored on the device as whole, unsplit files. These files do not require multipart handling or decompression and are accessed via a direct call to device.readFile().

Note: This set is used in functions like readCompleteDeviceFile() to bypass multipart reading and related processing logic.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ParameterValue

Enumeration Type Documentation

◆ DeviceFileError

◆ EtherCATVendorID

◆ ObjectCode

◆ ObjectDataType

◆ ObjectFlags

◆ PdoMappingStatus

Function Documentation

◆ assignGroupsToParameters()

◆ convertParameterValueToString()

◆ deviceFileErrorToString()

◆ from_json() [1/2]

◆ from_json() [2/2]

◆ isAppBinFile()

◆ isComBinFile()

◆ isFirmwareBinFile()

◆ logParametersMap()

◆ makeParameterId()

◆ operator&()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ operator|()

◆ operator|=()

◆ readCompleteDeviceFile()

◆ removeDeviceFileOrParts()

◆ SetObjectFlags()

◆ writeDeviceFileInOptionalParts()

◆ writeFirmwarePackage()

Variable Documentation

◆ kDeviceFilePartSize

◆ kNonPartedFileNames