WIP: Sdo info support #93
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Minimum allowed coverage is Generated by 🐒 cobertura-action against efbe925 |
leducp
reviewed
Apr 24, 2023
| @@ -101,6 +101,11 @@ int main(int argc, char *argv[]) | |||
| // Map RXPDO | |||
| mapPDO(0, 0x1600, pdo::rx_mapping, pdo::rx_mapping_count, 0x1C12); | |||
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| // Map TXPDO | |||
leducp
reviewed
Apr 24, 2023
| // unit_test.prefix = 0x03; | ||
| // bus.getUnitDescription(ingenia, unit_test); | ||
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| std::abort(); |
leducp
reviewed
Apr 24, 2023
| @@ -142,6 +150,26 @@ namespace kickcat | |||
| uint32_t* client_data_size_; | |||
| }; | |||
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| class SDOInfoMessage : public AbstractMessage | |||
| { | |||
| public: | |||
leducp
reviewed
Apr 24, 2023
| @@ -76,4 +80,87 @@ namespace kickcat | |||
| auto sdo = slave.mailbox.createSDO(index, subindex, CA, CoE::SDO::request::DOWNLOAD, data, &data_size, timeout); | |||
| waitForMessage(sdo); | |||
| } | |||
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| void Bus::getObjectDictionnaryList(Slave& slave, CoE::SDO::information::ListType type, void* data, uint32_t* data_size, nanoseconds timeout) | |||
There was a problem hiding this comment.
A lot of print here: to move in a dedicated example
leducp
reviewed
Apr 24, 2023
| } | ||
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| int32_t size = header->len - sizeof(CoE::ServiceDataInfo) - sizeof(CoE::Header); | ||
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leducp
reviewed
Apr 24, 2023
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| std::string CoE::SDO::information::toString(ObjectAccess object_access) | ||
| { | ||
| std::stringstream os; |
There was a problem hiding this comment.
Since only string are manipulated, you can work directly on a std::string
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Need a bit of cleanup. Almost ready to be merged. |
leducp
reviewed
Apr 24, 2023
| } | ||
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| uint32_t request_payload_size = sizeof(type); | ||
| memcpy(data, &type, request_payload_size); |
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prefer to call memcpy with std namespace
leducp
reviewed
Apr 24, 2023
| THROW_ERROR("This mailbox is inactive"); | ||
| } | ||
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| memcpy(data, &index, sizeof(index)); |
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Maybe create dedicated pointer to copy to to have a meaningful location.
leducp
reviewed
Apr 24, 2023
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| if(remaining_size < size) | ||
| { | ||
| status_ = MessageStatus::COE_CLIENT_BUFFER_TOO_SMALL; |
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You can set it once at the end when the status OK is computed.
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close #90
Example of output on an elmo gold motor driver: