ethercat_frame.h

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#pragma once
 
#include <cstdint>
#include <optional>
#include <span>
#include <vector>
 
 
namespace mm::capture {
 
inline constexpr uint16_t kEtherCatEtherType = 0x88A4;
 
struct Datagram {
  uint8_t command = 0;  
  uint8_t index = 0;    
  uint16_t adp = 0;     
  uint16_t ado = 0;     
  uint16_t length = 0;  
  bool more = false;    
  uint16_t wkc = 0;     
};
 
struct EtherCatFrame {
  bool fromMaster = false;
  std::vector<Datagram> datagrams;  
};
 
bool isLogicalCommand(uint8_t command);
 
bool isPositionCountedUp(uint8_t command);
 
std::optional<EtherCatFrame> parseEtherCatFrame(std::span<const uint8_t> bytes);
 
}  // namespace mm::capture