process_image.h

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#pragma once
 
#include <array>
#include <cstddef>
#include <cstdint>
#include <expected>
#include <optional>
#include <span>
#include <string>
#include <vector>
 
#include "comm/fieldbus_driver.h"
#include "node/device_parameter.h"
 
namespace mm::node {
 
class Device;
 
struct ProcessBuffer {
  uint32_t size = 0;
  std::array<uint8_t, mm::comm::kMaxProcessImageBytes> bytes{};
};
 
struct ProcessImageEntry {
  uint16_t slavePosition = 0;  
  uint16_t index = 0;          
  uint8_t subindex = 0;        
  uint16_t bitLength = 0;      
  uint32_t bitOffset = 0;      
 
  const DeviceParameter* parameter = nullptr;
};
 
struct ProcessImage {
  std::vector<ProcessImageEntry> outputs;  
  std::vector<ProcessImageEntry> inputs;   
  uint32_t outputBytes = 0;                
  uint32_t inputBytes = 0;                 
  int expectedWkc = 0;                     
 
  struct Location {
    uint32_t bitOffset;  
    uint16_t bitLength;  
    bool isOutput;       
    size_t entryIndex;   
  };
 
  std::optional<Location> find(uint16_t slavePosition, uint16_t index, uint8_t subindex) const;
};
 
std::vector<uint8_t> extractBits(std::span<const uint8_t> src, uint32_t bitOffset,
                                 uint16_t bitLength);
 
void extractBits(std::span<const uint8_t> src, uint32_t bitOffset, uint16_t bitLength,
                 std::span<uint8_t> out);
 
void insertBits(std::span<uint8_t> dst, uint32_t bitOffset, uint16_t bitLength,
                std::span<const uint8_t> value);
 
std::expected<ProcessImage, std::string> buildProcessImage(const mm::comm::PdoLayout& layout,
                                                           const std::vector<Device>& devices);
 
}  // namespace mm::node