pdo_mapping.h

Go to the documentation of this file.

#pragma once
 
#include <cstdint>
#include <nlohmann/json_fwd.hpp>
#include <vector>
 
namespace mm::node {
 
struct PdoMappingEntry {
  uint16_t index = 0;     
  uint8_t subindex = 0;   
  uint8_t bitLength = 0;  
  uint32_t bitOffset =
      0;  
};
 
inline uint32_t packMappingEntry(const PdoMappingEntry& e) {
  return (static_cast<uint32_t>(e.index) << 16) | (static_cast<uint32_t>(e.subindex) << 8) |
         static_cast<uint32_t>(e.bitLength);
}
 
inline PdoMappingEntry unpackMappingEntry(uint32_t packed) {
  return PdoMappingEntry{
      .index = static_cast<uint16_t>(packed >> 16),
      .subindex = static_cast<uint8_t>((packed >> 8) & 0xFF),
      .bitLength = static_cast<uint8_t>(packed & 0xFF),
  };
}
 
struct FlatPdoMapping {
  std::vector<PdoMappingEntry> outputs;  
  std::vector<PdoMappingEntry> inputs;   
  uint32_t outputBits = 0;               
  uint32_t inputBits = 0;                
};
 
struct PdoMappingObject {
  uint16_t pdoIndex = 0;                 
  std::vector<PdoMappingEntry> entries;  
};
 
struct PdoMapping {
  std::vector<PdoMappingObject> outputs;  
  std::vector<PdoMappingObject> inputs;   
};
 
void to_json(nlohmann::json& j, const PdoMappingEntry& e);
 
void to_json(nlohmann::json& j, const PdoMappingObject& o);
 
void to_json(nlohmann::json& j, const PdoMapping& m);
 
}  // namespace mm::node