The whole bus's process-data layout, resolved to absolute positions. More...

#include <process_image.h>

Collaboration diagram for mm::node::ProcessImage:

Classes
struct	Location
	Where a mapped object sits in the image, and which direction it belongs to. More...

Public Member Functions
std::optional< Location >	find (uint16_t slavePosition, uint16_t index, uint8_t subindex) const
	Locates a mapped object by bus position and CoE address.

Public Attributes
std::vector< ProcessImageEntry >	outputs
	Master→slave objects, located in the output image.

std::vector< ProcessImageEntry >	inputs
	Slave→master objects, located in the input image.

uint32_t	outputBytes = 0
	Size of the output image.

uint32_t	inputBytes = 0
	Size of the input image.

int	expectedWkc = 0
	Working counter when every slave exchanges.

Detailed Description

The whole bus's process-data layout, resolved to absolute positions.

Built by buildProcessImage from the driver's PdoLayout (per-slave windows + sizes) and each device's FlatPdoMapping (per-object offsets within its window). Immutable once built and published behind an atomic pointer; the RT loop reads only outputBytes / inputBytes / expectedWkc, while outputs / inputs serve non-RT value access.

Member Function Documentation

◆ find()

std::optional< ProcessImage::Location > mm::node::ProcessImage::find	(	uint16_t	slavePosition,
		uint16_t	index,
		uint8_t	subindex
	)		const

Locates a mapped object by bus position and CoE address.

Returns: Its location, or nullopt if the object is not mapped in this image.

Member Data Documentation

◆ expectedWkc

int mm::node::ProcessImage::expectedWkc = 0

Working counter when every slave exchanges.

◆ inputBytes

uint32_t mm::node::ProcessImage::inputBytes = 0

Size of the input image.

◆ inputs

std::vector<ProcessImageEntry> mm::node::ProcessImage::inputs

Slave→master objects, located in the input image.

◆ outputBytes

uint32_t mm::node::ProcessImage::outputBytes = 0

Size of the output image.

◆ outputs

std::vector<ProcessImageEntry> mm::node::ProcessImage::outputs

Master→slave objects, located in the output image.

The documentation for this struct was generated from the following files:

libs/node/process_image.h
libs/node/process_image.cc

Classes

Public Member Functions

Public Attributes