Builds C_SDU payload from IO data objects with double-buffering. More...

#include <rt.h>

Collaboration diagram for profinet::rt::CyclicDataBuilder:

Public Member Functions
	CyclicDataBuilder (IOCRConfig config)
	Construct a builder for the given IOCR configuration.

void	SetData (int slot, int subslot, const Bytes &data)
	Write one object's data into the write buffer.

Bytes	GetData (int slot, int subslot) const
	Read one object's data from the write buffer.

void	SetIops (int slot, int subslot, std::uint8_t status=IOXS_GOOD)
	Set one object's IOPS (provider status) byte.

void	SetIocs (int slot, int subslot, std::uint8_t status=IOXS_GOOD)
	Set one object's IOCS (consumer status) byte, if it has one.

void	SetAllIops (std::uint8_t status=IOXS_GOOD)
	Set every object's IOPS byte to the same value.

void	SetAllIocs (std::uint8_t status=IOXS_GOOD)
	Set every object's IOCS byte to the same value.

void	Clear ()
	Zero the entire write buffer.

void	Swap ()
	Promote the write buffer to the send buffer.

Bytes	Build () const
	Get the current send buffer contents.

void	Load (const Bytes &payload)
	Load received payload data into the write buffer.

const IOCRConfig &	Config () const
	The IOCR configuration this builder was constructed with.

Private Attributes
IOCRConfig	config
	IOCR configuration describing the objects this builder manages.

Bytes	writeBuffer
	Buffer the application thread writes into.

Bytes	sendBuffer
	Buffer the TX thread reads from (updated only by Swap()).

std::mutex	writeLock
	Guards writeBuffer against concurrent access.

bool	dirty = false
	Whether writeBuffer has changed since the last Swap().

Detailed Description

Builds C_SDU payload from IO data objects with double-buffering.

Two buffers give lock-free reads for the TX thread: the application thread writes via SetData()/SetIops()/SetIocs() into the write buffer; Swap() atomically promotes it to the send buffer that Build() reads from. This mirrors rt.py's CyclicDataBuilder exactly, substituting std::mutex for threading.Lock.

Definition at line 276 of file rt.h.

Constructor & Destructor Documentation

◆ CyclicDataBuilder()

profinet::rt::CyclicDataBuilder::CyclicDataBuilder ( IOCRConfig config )

explicit

Construct a builder for the given IOCR configuration.

Parameters

config IOCR configuration describing the objects to build data for.

Definition at line 82 of file rt.cpp.

Member Function Documentation

◆ Build()

Bytes profinet::rt::CyclicDataBuilder::Build ( ) const

Get the current send buffer contents.

Returns: A copy of the send buffer.

Lock-free: reads the send buffer, only updated by Swap().

Definition at line 199 of file rt.cpp.

References sendBuffer.

Referenced by profinet::cyclic::CyclicController::SendOutputFrame().

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◆ Clear()

void profinet::rt::CyclicDataBuilder::Clear ( )

Zero the entire write buffer.

Definition at line 182 of file rt.cpp.

References dirty, writeBuffer, and writeLock.

◆ Config()

const IOCRConfig & profinet::rt::CyclicDataBuilder::Config ( ) const

inline

The IOCR configuration this builder was constructed with.

Returns: A const reference to the configuration.

Definition at line 336 of file rt.h.

References config.

◆ GetData()

Bytes profinet::rt::CyclicDataBuilder::GetData	(	int	slot,
		int	subslot
	)		const

Read one object's data from the write buffer.

Parameters

slot	Slot number of the object.
subslot	Subslot number of the object.

Returns: A copy of the object's current data.

Definition at line 107 of file rt.cpp.

References config, obj, profinet::rt::IOCRConfig::objects, writeBuffer, and writeLock.

◆ Load()

void profinet::rt::CyclicDataBuilder::Load ( const Bytes & payload )

Load received payload data into the write buffer.

Parameters

payload Received cyclic frame payload.

Definition at line 204 of file rt.cpp.

References dirty, payload, writeBuffer, and writeLock.

◆ SetAllIocs()

void profinet::rt::CyclicDataBuilder::SetAllIocs ( std::uint8_t status = IOXS_GOOD )

Set every object's IOCS byte to the same value.

Parameters

status New IOCS value (defaults to IOXS_GOOD).

Definition at line 169 of file rt.cpp.

References config, dirty, obj, profinet::rt::IOCRConfig::objects, writeBuffer, and writeLock.

Referenced by profinet::cyclic::CyclicController::CyclicController(), profinet::cyclic::CyclicController::HandleWatchdogTimeout(), and profinet::cyclic::CyclicController::ProcessInputFrame().

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◆ SetAllIops()

void profinet::rt::CyclicDataBuilder::SetAllIops ( std::uint8_t status = IOXS_GOOD )

Set every object's IOPS byte to the same value.

Parameters

status New IOPS value (defaults to IOXS_GOOD).

Definition at line 156 of file rt.cpp.

References config, dirty, obj, profinet::rt::IOCRConfig::objects, writeBuffer, and writeLock.

Referenced by profinet::cyclic::CyclicController::CyclicController().

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◆ SetData()

void profinet::rt::CyclicDataBuilder::SetData	(	int	slot,
		int	subslot,
		const Bytes &	data
	)

Write one object's data into the write buffer.

Parameters

slot	Slot number of the object.
subslot	Subslot number of the object.
data	New data for the object (truncated to the object's configured length).

Thread-safe. Throws std::invalid_argument if slot/subslot unknown.

Definition at line 89 of file rt.cpp.

References config, dirty, obj, profinet::rt::IOCRConfig::objects, writeBuffer, and writeLock.

Referenced by profinet::cyclic::CyclicController::SetOutputData().

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◆ SetIocs()

void profinet::rt::CyclicDataBuilder::SetIocs	(	int	slot,
		int	subslot,
		std::uint8_t	status = `IOXS_GOOD`
	)

Set one object's IOCS (consumer status) byte, if it has one.

Parameters

slot	Slot number of the object.
subslot	Subslot number of the object.
status	New IOCS value (defaults to IOXS_GOOD).

Definition at line 139 of file rt.cpp.

References config, dirty, obj, profinet::rt::IOCRConfig::objects, writeBuffer, and writeLock.

◆ SetIops()

void profinet::rt::CyclicDataBuilder::SetIops	(	int	slot,
		int	subslot,
		std::uint8_t	status = `IOXS_GOOD`
	)

Set one object's IOPS (provider status) byte.

Parameters

slot	Slot number of the object.
subslot	Subslot number of the object.
status	New IOPS value (defaults to IOXS_GOOD).

Skips IOCS-only objects (DataLength == 0), which have no IOPS byte.

Definition at line 122 of file rt.cpp.

References config, dirty, obj, profinet::rt::IOCRConfig::objects, writeBuffer, and writeLock.

Referenced by profinet::cyclic::CyclicController::SetOutputData().

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◆ Swap()

void profinet::rt::CyclicDataBuilder::Swap ( )

Promote the write buffer to the send buffer.

Call at the start of each cycle. Only copies if the write buffer has changed since the last swap.

Definition at line 189 of file rt.cpp.

References dirty, sendBuffer, writeBuffer, and writeLock.

Referenced by profinet::cyclic::CyclicController::SendStopFrames(), profinet::cyclic::CyclicController::Start(), and profinet::cyclic::CyclicController::TxCycle().

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Member Data Documentation

◆ config

IOCRConfig profinet::rt::CyclicDataBuilder::config

private

IOCR configuration describing the objects this builder manages.

Definition at line 343 of file rt.h.

Referenced by Config(), GetData(), SetAllIocs(), SetAllIops(), SetData(), SetIocs(), and SetIops().

◆ dirty

bool profinet::rt::CyclicDataBuilder::dirty = false

private

Whether writeBuffer has changed since the last Swap().

Definition at line 355 of file rt.h.

Referenced by Clear(), Load(), SetAllIocs(), SetAllIops(), SetData(), SetIocs(), SetIops(), and Swap().

◆ sendBuffer

Bytes profinet::rt::CyclicDataBuilder::sendBuffer

private

Buffer the TX thread reads from (updated only by Swap()).

Definition at line 349 of file rt.h.

Referenced by Build(), and Swap().

◆ writeBuffer

Bytes profinet::rt::CyclicDataBuilder::writeBuffer

private

Buffer the application thread writes into.

Definition at line 346 of file rt.h.

Referenced by Clear(), GetData(), Load(), SetAllIocs(), SetAllIops(), SetData(), SetIocs(), SetIops(), and Swap().

◆ writeLock

std::mutex profinet::rt::CyclicDataBuilder::writeLock

mutableprivate

Guards writeBuffer against concurrent access.

Definition at line 352 of file rt.h.

Referenced by Clear(), GetData(), Load(), SetAllIocs(), SetAllIops(), SetData(), SetIocs(), SetIops(), and Swap().

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

include/profinet/rt.h
src/rt.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CyclicDataBuilder()

Member Function Documentation

◆ Build()

◆ Clear()

◆ Config()

◆ GetData()

◆ Load()

◆ SetAllIocs()

◆ SetAllIops()

◆ SetData()

◆ SetIocs()

◆ SetIops()

◆ Swap()

Member Data Documentation

◆ config

◆ dirty

◆ sendBuffer

◆ writeBuffer

◆ writeLock