soem.h File Reference

#include <cstdint>
#include <functional>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <type_traits>
#include <unordered_map>
#include <utility>
#include <variant>
#include <vector>
#include "base.h"
#include "ethercat.h"
#include "loguru.h"

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Classes
struct	mm::comm::soem::Fieldbus
	Structure representing the Fieldbus configuration and context for EtherCAT communication. More...
struct	mm::comm::soem::SlaveInfoMailbox
	Information about a slave's mailbox configuration. More...
class	mm::comm::soem::Slave
	Represents a slave in the EtherCAT network. More...
class	mm::comm::soem::Master

Namespaces
namespace	mm
namespace	mm::comm
namespace	mm::comm::soem

Functions
std::map< std::string, std::string >	mm::comm::soem::mapMacAddressesToInterfaces ()
	Maps MAC addresses to their corresponding network interface names.
int	mm::comm::soem::setPdoMappingFromUiConfig (ecx_contextt *context, uint16 slave)
	Sets PDO mapping for a specified EtherCAT slave using UI configuration.
void	mm::comm::soem::checkPdoMapping (ecx_contextt *context, uint16 slave)
	Diagnoses and prints the PDO mapping for a given slave.
uint16_t	mm::comm::soem::getSlaveState (ecx_contextt *context, uint16_t slave, bool forceRefresh)
	Retrieves the current state of a specific EtherCAT slave.
std::string	mm::comm::soem::convertSlaveStateToString (int state)
	Converts a numeric EtherCAT state value into a human-readable string.
bool	mm::comm::soem::transitionToHigherSlaveState (ecx_contextt *context, uint16_t slave, int targetState)
	Transitions a slave to a higher EtherCAT state.
void	mm::comm::soem::updateMailboxSyncManagersOnNextState (ecx_contextt *context, uint16_t slave, int targetState)
	Updates the mailbox and sync manager (SM) configurations for an EtherCAT slave when transitioning to specific states (e.g., BOOT or INIT).
void	mm::comm::soem::configureDetectedSmmModule (ecx_contextt *context, uint16_t slave)
	Reads the detected SMM module ID from the slave device and configures the module identification object accordingly.
bool	mm::comm::soem::setSlaveState (ecx_contextt *context, uint16_t slave, int targetState)
	Sets the state of a specified EtherCAT slave.
mm::comm::base::PdoMappings	mm::comm::soem::readPdoMappings (ecx_contextt *context, uint16_t slave)
	Read and parse all mapped PDO entries for a given slave.
void	mm::comm::soem::logPdoMappingEntries (const std::vector< mm::comm::base::PdoMappingEntry > &entries)
	Logs PDO mapping entries grouped by PDO index.
void	mm::comm::soem::logIoMap (uint8_t *ioMap, size_t totalBytes)
	Logs the I/O map as a formatted hexadecimal string.
	mm::comm::soem::NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE (SlaveInfoMailbox, readLength, readOffset, supportedProtocols, writeLength, writeOffset) struct SlaveInfoSyncManager
	Information about a slave's Sync Manager (SM) configuration.
	mm::comm::soem::NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE (SlaveInfoSyncManager, flags, length, startAddress, type) struct SlaveInfoFmmu
	Information about a slave's Fieldbus Memory Management Unit (FMMU).
	mm::comm::soem::NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE (SlaveInfoFmmu, active, logicalEndBit, logicalStartBit, logicalStartAddress, logicalLength, physicalStartBit, physicalStartAddress, type) struct SlaveInfo
	General information about an EtherCAT slave device.
	mm::comm::soem::NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE (SlaveInfo, alStatusCode, aliasAddress, fmmus, mailbox, productCode, position, revisionNumber, syncManagers, name, vendorId) SlaveInfo getSlaveInfo(ecx_contextt *context
	Retrieves detailed information about a specific EtherCAT slave.
void	mm::comm::soem::logSlaveInfo (ecx_contextt *context, uint16 position)
	Logs detailed information about a specific EtherCAT slave in JSON format.
void	mm::comm::soem::initFieldbus (std::unique_ptr< Fieldbus > &fieldbus, const std::string &iface)
	Initializes a Fieldbus instance for EtherCAT communication.

Variables
std::string	mm::comm::soem::uiConfigWithDefaultPdoMapping
	Default UI configuration used for PDO mapping.
uint16	mm::comm::soem::position