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Continue ETG.1510 work #376

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8 changes: 8 additions & 0 deletions lib/include/kickcat/Mailbox.h
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Expand Up @@ -210,6 +210,14 @@ namespace kickcat::mailbox::response
/// \brief Synchronous single-shot processing: dispatch, process, and return the reply
std::vector<uint8_t> processRequest(std::vector<uint8_t>&& raw_message);

/// \brief Serve an ETG.8200 gateway request synchronously against this OD and return
/// a completed GatewayMessage carrying the reply, ready to be consumed by
/// Gateway::processPendingRequests(). Intended for the master-side (ETG.1510) path.
/// \return nullptr if the request is malformed (too small to contain a mailbox header)
/// or if the dictionary produced no/malformed reply.
std::shared_ptr<mailbox::request::GatewayMessage> createGatewayMessage(
uint8_t const* raw_message, int32_t raw_message_size, uint16_t gateway_index);

// Access on the next message to send: mainly for unit test
std::vector<uint8_t> const& readyToSend() const { return to_send_.front(); }

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7 changes: 7 additions & 0 deletions lib/master/include/kickcat/Bus.h
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Expand Up @@ -149,6 +149,11 @@ namespace kickcat
/// \return nullptr if message cannot be added (malformed, bad address, unsupported protocol, etc.), a handle on the message otherwise
std::shared_ptr<mailbox::request::GatewayMessage> addGatewayMessage(uint8_t const* raw_message, int32_t raw_message_size, uint16_t gateway_index);

/// \brief Install a master-side response mailbox to serve ETG.1510 (address == 0) gateway requests.
/// \details The bus does not take ownership: the caller keeps the mailbox alive for as long as
/// the bus may route requests to it. Pass nullptr to detach.
void setMasterMailbox(mailbox::response::Mailbox* mbx) { master_mailbox_ = mbx; }

void clearErrorCounters();

// Helpers for broadcast commands, mainly for init purpose
Expand Down Expand Up @@ -240,6 +245,8 @@ namespace kickcat
Slave* dc_slave_{nullptr};

MailboxStatusFMMU mailbox_status_fmmu_{MailboxStatusFMMU::NONE};

mailbox::response::Mailbox* master_mailbox_{nullptr};
};

/**
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4 changes: 4 additions & 0 deletions lib/master/include/kickcat/Slave.h
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Expand Up @@ -15,6 +15,10 @@ namespace kickcat
{
void parseSII(uint8_t const* data, std::size_t size);

/// \brief Human-readable slave name. Returns the SII general-category device name when present,
/// otherwise a fallback derived from the fixed station address (e.g. "Slave @0x1001").
std::string name() const;

ErrorCounters const& errorCounters() const;
int computeErrorCounters() const;

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12 changes: 8 additions & 4 deletions lib/master/src/Bus.cc
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Expand Up @@ -1331,12 +1331,16 @@ namespace kickcat
mailbox::Header mbx_header;
std::memcpy(&mbx_header, raw_message, sizeof(mailbox::Header));

// Try to associate the request with a destination
// Try to associate the request with a destination.
// Per ETG.1510 section 6, address == 0 in an ETG.8200 request addresses the master OD.
if (mbx_header.address == 0)
{
// Master is the destination, unsupported for now (ETG 1510)
bus_error("Master mailbox not implemented");
return nullptr;
if (master_mailbox_ == nullptr)
{
bus_error("Master mailbox not implemented");
return nullptr;
}
return master_mailbox_->createGatewayMessage(raw_message, raw_message_size, gateway_index);
}

auto it = std::find_if(slaves_.begin(), slaves_.end(), [&](Slave const& slave) { return slave.address == mbx_header.address; });
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58 changes: 44 additions & 14 deletions lib/master/src/MasterOD.cc
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Expand Up @@ -72,27 +72,57 @@ namespace kickcat
auto const& sii = slave.sii;
uint16_t index = 0x8000 + i;

// Slave name: ETG.1510 :03 references the SII general category name string.
// Slave::name() handles the SII lookup and falls back to a station-address label.
std::string slave_name = slave.name();
uint16_t name_bitlen = static_cast<uint16_t>(slave_name.size() * 8);

// ETG.1510 Table 9 rows :36 Link Preset / :37 Flags are ENI-derived. KickCAT has no ENI
// ingestion yet, so expose conformant zero defaults (no redundancy, no hot-connect group,
// no explicit expected physical links). Override once ENI lands.
uint8_t const link_preset = 0;
uint8_t const flags = 0;

CoE::Object obj{index, CoE::ObjectCode::RECORD, "Slave Configuration", {}};
CoE::addEntry<uint8_t> (obj, 0, 8, 0, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Number of Entries", 7);
CoE::addEntry<uint16_t>(obj, 1, 16, 8, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Fixed Station Address", slave.address);
CoE::addEntry<uint32_t>(obj, 5, 32, 24, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Vendor Id", sii.info.vendor_id);
CoE::addEntry<uint32_t>(obj, 6, 32, 56, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Product Code", sii.info.product_code);
CoE::addEntry<uint32_t>(obj, 7, 32, 88, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Revision Number", sii.info.revision_number);
CoE::addEntry<uint32_t>(obj, 8, 32, 120, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Serial Number", sii.info.serial_number);
CoE::addEntry<uint16_t>(obj, 33, 16, 152, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Mailbox Out Size", sii.info.standard_recv_mbx_size);
CoE::addEntry<uint16_t>(obj, 34, 16, 168, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Mailbox In Size", sii.info.standard_send_mbx_size);

// Subindex 0 is the highest supported subindex (CANopen convention), not a count.
uint16_t bit_offset = 0;
CoE::addEntry<uint8_t> (obj, 0, 8, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Number of Entries", uint8_t{39});
bit_offset += 8;
CoE::addEntry<uint16_t>(obj, 1, 16, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Fixed Station Address", slave.address);
bit_offset += 16;
// ETG.1510 Table 9 has no :02 entry; jump from :01 to :03.
CoE::addEntry<char const*>(obj, 3, name_bitlen, bit_offset, CoE::Access::READ, CoE::DataType::VISIBLE_STRING, "Name", slave_name.c_str());
bit_offset += name_bitlen;
CoE::addEntry<uint32_t>(obj, 5, 32, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Vendor Id", sii.info.vendor_id);
bit_offset += 32;
CoE::addEntry<uint32_t>(obj, 6, 32, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Product Code", sii.info.product_code);
bit_offset += 32;
CoE::addEntry<uint32_t>(obj, 7, 32, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Revision Number", sii.info.revision_number);
bit_offset += 32;
CoE::addEntry<uint32_t>(obj, 8, 32, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED32, "Serial Number", sii.info.serial_number);
bit_offset += 32;
CoE::addEntry<uint16_t>(obj, 33, 16, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Mailbox Out Size", sii.info.standard_recv_mbx_size);
bit_offset += 16;
CoE::addEntry<uint16_t>(obj, 34, 16, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Mailbox In Size", sii.info.standard_send_mbx_size);
bit_offset += 16;
CoE::addEntry<uint8_t> (obj, 36, 8, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Link Preset", link_preset);
bit_offset += 8;
CoE::addEntry<uint8_t> (obj, 37, 8, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED8, "Flags", flags);
bit_offset += 8;
CoE::addEntry<uint16_t>(obj, 39, 16, bit_offset, CoE::Access::READ, CoE::DataType::UNSIGNED16, "Mailbox Protocols Supported", sii.info.mailbox_protocol);

dict.push_back(std::move(obj));

auto& entries = dict.back().entries;
ConfigurationData config;
config.fixed_address = &entries[1];
config.vendor_id = &entries[2];
config.product_code = &entries[3];
config.revision = &entries[4];
config.serial_number = &entries[5];
config.mailbox_out_size = &entries[6];
config.mailbox_in_size = &entries[7];
config.vendor_id = &entries[3];
config.product_code = &entries[4];
config.revision = &entries[5];
config.serial_number = &entries[6];
config.mailbox_out_size = &entries[7];
config.mailbox_in_size = &entries[8];

configuration_data_.push_back(config);
}
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21 changes: 21 additions & 0 deletions lib/master/src/Slave.cc
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@@ -1,4 +1,5 @@
#include <algorithm>
#include <cstdio>
#include <iomanip>

#include "Slave.h"
Expand All @@ -22,6 +23,26 @@ namespace kickcat
mailbox_bootstrap.send_size = sii.info.bootstrap_send_mbx_size;
}

std::string Slave::name() const
{
uint8_t name_idx = sii.general.device_name_id;
if ((name_idx > 0) and (name_idx <= sii.strings.size()))
{
auto const& s = sii.strings[name_idx - 1];
if (not s.empty())
{
return s;
}
}

// Fallback: derive a label from the fixed station address so operators can still correlate
// the slave with what they see on the wire.
char buf[16];
std::snprintf(buf, sizeof(buf), "Slave @0x%04X", address);
return buf;
}


ErrorCounters const& Slave::errorCounters() const
{
return error_counters;
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34 changes: 34 additions & 0 deletions lib/src/Mailbox.cc
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Expand Up @@ -434,6 +434,40 @@ namespace kickcat::mailbox::response
}


std::shared_ptr<mailbox::request::GatewayMessage> Mailbox::createGatewayMessage(
uint8_t const* raw_message, int32_t raw_message_size, uint16_t gateway_index)
{
// Guard against malformed or truncated requests before treating the buffer as a mailbox frame.
// Covers both negative sizes and "shorter than the mailbox header" sizes in one check.
if (raw_message_size < static_cast<int32_t>(sizeof(mailbox::Header)))
{
return nullptr;
}

std::vector<uint8_t> request(raw_message, raw_message + raw_message_size);
auto reply = processRequest(std::move(request));
if (reply.size() < sizeof(mailbox::Header))
{
// Empty or malformed reply (the dictionary or a factory produced nothing routable).
return nullptr;
}

// Wrap the reply and drive it to SUCCESS by tagging its header with the gateway-masked
// address and feeding it back through GatewayMessage::process(). process() then restores
// the original (master) address on the delivered frame and flips status to SUCCESS, which
// is what Gateway::processPendingRequests() looks for.
uint16_t mailbox_size = static_cast<uint16_t>(
std::max<size_t>(reply.size(), static_cast<size_t>(raw_message_size)));
auto msg = std::make_shared<mailbox::request::GatewayMessage>(mailbox_size, raw_message, gateway_index, 0ms);

auto* reply_header = reinterpret_cast<mailbox::Header*>(reply.data());
reply_header->address = mailbox::GATEWAY_MESSAGE_MASK | gateway_index;
msg->process(reply.data());

return msg;
}


void Mailbox::send()
{
SyncManager sync;
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1 change: 1 addition & 0 deletions unit/CMakeLists.txt
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Expand Up @@ -31,6 +31,7 @@ add_executable(kickcat_unit src/adler32_sum-t.cc
src/mailbox/CoE/request-t.cc
src/mailbox/CoE/response-t.cc
src/masterOD-t.cc
src/masterOD-gateway-t.cc
src/slave/slave-t.cc
src/slave/PDO-t.cc
src/Time.cc
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