Added the teknic vendor sources

src/EIPScanner/CMakeLists.txt

@@ -25,6 +25,7 @@ add_subdirectory(utils)
 if(ENABLE_VENDOR_SRC)
         add_subdirectory(vendor/ra)
         add_subdirectory(vendor/yaskawa)
+        add_subdirectory(vendor/teknic)
 endif()
 
 

src/EIPScanner/vendor/teknic/CMakeLists.txt

@@ -0,0 +1,8 @@
+set(SOURCE_FILES 
+        ${CMAKE_CURRENT_LIST_DIR}/clearlink/AttributeBaseObject.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/clearlink/SDMotorConfigObject.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/clearlink/SDMotorInputObject.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/clearlink/SDMotorOutputObject.cpp)
+
+target_sources(EIPScanner PUBLIC ${SOURCE_FILES})
+target_sources(EIPScanner PUBLIC ${SOURCE_FILES})

src/EIPScanner/vendor/teknic/clearlink/AttributeBaseObject.cpp

@@ -0,0 +1,83 @@
+//
+// Created by Jan Ritzenhoff on 8/29/2024.
+//
+
+#include "EIPScanner/vendor/teknic/clearlink/AttributeBaseObject.h"
+
+#include <memory>
+
+namespace eipScanner
+{
+namespace vendor
+{
+namespace teknic
+{
+namespace clearlink
+{
+    AttributeBaseObject::AttributeBaseObject(eipScanner::cip::CipUint classId, eipScanner::cip::CipUint instanceId,
+                                             const eipScanner::SessionInfoIf::SPtr sessionInfo, const eipScanner::MessageRouter::SPtr messageRouter)
+        : BaseObject(classId, instanceId), _sessionInfo(sessionInfo), _messageRouter(messageRouter) {}
+
+    void AttributeBaseObject::_getAllAttributesIndividually()
+    {
+        std::vector<ReflexiveFieldReference> classAttributes = _getAttributeReferences();
+
+        for (uint8_t fieldIndex = 0; fieldIndex < classAttributes.size(); ++fieldIndex)
+        {
+
+            // actually send the explicit message
+            auto getAttributeResponse = _messageRouter->sendRequest(_sessionInfo, eipScanner::cip::ServiceCodes::GET_ATTRIBUTE_SINGLE,
+                                                                    eipScanner::cip::EPath(getClassId(), getInstanceId(), fieldIndex + 1));
+
+            // check the getAttributeResponse code
+            if (getAttributeResponse.getGeneralStatusCode() != eipScanner::cip::GeneralStatusCodes::SUCCESS)
+            {
+                logGeneralAndAdditionalStatus(getAttributeResponse);
+                // throw std::runtime_error("Failed to read attribute with status code: " + std::to_string(getAttributeResponse.getGeneralStatusCode()));
+                continue;
+            }
+
+            eipScanner::utils::Buffer getBuffer(getAttributeResponse.getData());
+
+            auto fieldReference = classAttributes[fieldIndex];
+            // pass a reference of the getBuffer to the lambda function and the first argument of the lambda function is the actual field reference
+            std::visit([&getBuffer](auto &fieldRef)
+                       { getBuffer >> fieldRef; },
+                       fieldReference);
+        }
+    }
+
+    void AttributeBaseObject::_setAllAttributesIndividually()
+    {
+        std::vector<ReflexiveFieldReference> classAttributes = _getAttributeReferences();
+
+        for (uint8_t fieldIndex = 0; fieldIndex < classAttributes.size(); ++fieldIndex)
+        {
+
+            auto fieldReference = classAttributes[fieldIndex];
+
+            eipScanner::utils::Buffer setBuffer;
+
+            // pass a reference of the buffer to the lambda function
+            std::visit([&setBuffer](auto &fieldRef)
+                       { setBuffer << fieldRef; },
+                       fieldReference);
+
+            // actually send the explicit message
+            auto setAttributeResponse = _messageRouter->sendRequest(_sessionInfo, eipScanner::cip::ServiceCodes::SET_ATTRIBUTE_SINGLE,
+                                                                    eipScanner::cip::EPath(getClassId(), getInstanceId(), fieldIndex + 1),
+                                                                    setBuffer.data());
+
+            // check the setAttributeResponse code
+            if (setAttributeResponse.getGeneralStatusCode() != eipScanner::cip::GeneralStatusCodes::SUCCESS)
+            {
+                logGeneralAndAdditionalStatus(setAttributeResponse);
+                throw std::runtime_error("Failed to read attribute with status code: " + std::to_string(setAttributeResponse.getGeneralStatusCode()));
+            }
+        }
+    }
+
+}
+}
+}
+}

src/EIPScanner/vendor/teknic/clearlink/AttributeBaseObject.h

@@ -0,0 +1,82 @@
+//
+// Created by Jan Ritzenhoff on 8/29/2024.
+//
+
+#ifndef EIPSCANNER_VENDOR_TEKNIC_CLEARLINK_ATTRIBUTEBASEOBJECT_H
+#define EIPSCANNER_VENDOR_TEKNIC_CLEARLINK_ATTRIBUTEBASEOBJECT_H
+
+#include <variant>
+#include <functional>
+#include <vector>
+
+#include "EIPScanner/cip/Types.h"
+#include "EIPScanner/BaseObject.h"
+#include "EIPScanner/SessionInfo.h"
+#include "EIPScanner/MessageRouter.h"
+
+#include "EIPScanner/utils/Buffer.h"
+
+namespace eipScanner
+{
+namespace vendor
+{
+namespace teknic
+{
+namespace clearlink
+{
+
+    /**
+     * @class AttributeBaseObject
+     *
+     * @brief Base class for all the CIP Objects that access all attributes independently using explicit messaging
+     */
+    class AttributeBaseObject : public eipScanner::BaseObject
+    {
+    public:
+        /**
+         * @brief Creates an CIP instance
+         * @param classId the class ID of the the new instance
+         * @param instanceId the instance ID of the the new instanc
+         */
+        AttributeBaseObject(eipScanner::cip::CipUint classId, eipScanner::cip::CipUint instanceId, const eipScanner::SessionInfoIf::SPtr sessionInfo, const eipScanner::MessageRouter::SPtr messageRouter);
+
+    protected:
+        using ReflexiveFieldReference = std::variant<std::reference_wrapper<eipScanner::cip::CipOctet>,
+                                                     std::reference_wrapper<eipScanner::cip::CipBool>,
+                                                     std::reference_wrapper<eipScanner::cip::CipByte>,
+                                                     std::reference_wrapper<eipScanner::cip::CipWord>,
+                                                     std::reference_wrapper<eipScanner::cip::CipDword>,
+                                                     std::reference_wrapper<eipScanner::cip::CipUsint>,
+                                                     std::reference_wrapper<eipScanner::cip::CipUint>,
+                                                     std::reference_wrapper<eipScanner::cip::CipSint>,
+                                                     std::reference_wrapper<eipScanner::cip::CipInt>,
+                                                     std::reference_wrapper<eipScanner::cip::CipDint>,
+                                                     std::reference_wrapper<eipScanner::cip::CipReal>,
+                                                     std::reference_wrapper<eipScanner::cip::CipLreal>,
+                                                     std::reference_wrapper<eipScanner::cip::CipLword>,
+                                                     std::reference_wrapper<eipScanner::cip::CipLint>,
+                                                     std::reference_wrapper<eipScanner::cip::CipUlint>>;
+        // std::reference_wrapper<eipScanner::cip::CipUdint>, (this is typedeffed' to the same thing as the DWord. Including both in the variant confuses the compiler)
+
+        virtual std::vector<ReflexiveFieldReference> _getAttributeReferences() = 0;
+
+        /**
+         * @brief Gets the whole assembly to the device as individual get_attribute_single messages
+         */
+        void _getAllAttributesIndividually();
+
+        /**
+         * @brief Sets the whole assembly to the device as individual set_attribute_single messages
+         */
+        void _setAllAttributesIndividually();
+
+    private:
+        const eipScanner::SessionInfoIf::SPtr _sessionInfo;
+        const eipScanner::MessageRouter::SPtr _messageRouter;
+    };
+}
+}
+}
+}
+
+#endif // EIPSCANNER_VENDOR_TEKNIC_CLEARLINK_ATTRIBUTEBASEOBJECT_H

src/EIPScanner/vendor/teknic/clearlink/SDMotorConfigObject.cpp

@@ -0,0 +1,81 @@
+//
+// Created by Jan Ritzenhoff on 8/28/2024
+//
+#include "EIPScanner/vendor/teknic/clearlink/SDMotorConfigObject.h"
+
+#include "EIPScanner/utils/Buffer.h"
+
+#include <type_traits>
+
+namespace eipScanner
+{
+namespace vendor
+{
+namespace teknic
+{
+namespace clearlink
+{
+    using eipScanner::utils::Buffer;
+
+    SDMotorConfigObject::SDMotorConfigObject(eipScanner::cip::CipUint instanceId, const eipScanner::SessionInfoIf::SPtr si, const eipScanner::MessageRouter::SPtr messageRouter)
+        : AttributeBaseObject(CLASS_ID, instanceId, si, messageRouter), _configRegister(0), _softLimitPosition1(0), _softLimitPosition2(0), _positiveLimitConnector(0), _negativeLimitConnector(0), _homeSensorConnector(0), _brakeOutputConnector(0), _triggerPositionCaptureConnector(0), _maxDecelerationRate(0), _stopSensorConnector(0), _followEncoderMode(0), _followDivisor(0), _followMultiplier(0)
+    {
+
+        _getAllAttributesIndividually();
+    }
+
+    void SDMotorConfigObject::setAllAttributesIndividually()
+    {
+        _setAllAttributesIndividually();
+    }
+
+    std::vector<AttributeBaseObject::ReflexiveFieldReference> SDMotorConfigObject::_getAttributeReferences()
+    {
+        return {std::ref(_configRegister), std::ref(_softLimitPosition1), std::ref(_softLimitPosition2),
+                std::ref(_positiveLimitConnector), std::ref(_negativeLimitConnector), std::ref(_homeSensorConnector),
+                std::ref(_brakeOutputConnector), std::ref(_triggerPositionCaptureConnector), std::ref(_maxDecelerationRate),
+                std::ref(_stopSensorConnector), std::ref(_followEncoderMode), std::ref(_followDivisor), std::ref(_followMultiplier)};
+    }
+
+    eipScanner::cip::CipDword SDMotorConfigObject::getConfigRegister() const { return _configRegister; }
+    void SDMotorConfigObject::setConfigRegister(eipScanner::cip::CipDword configRegister) { _configRegister = configRegister; }
+
+    eipScanner::cip::CipDint SDMotorConfigObject::getSoftLimitPosition1() const { return _softLimitPosition1; }
+    void SDMotorConfigObject::setSoftLimitPosition1(eipScanner::cip::CipDint softLimitPosition1) { _softLimitPosition1 = softLimitPosition1; }
+
+    eipScanner::cip::CipDint SDMotorConfigObject::getSoftLimitPosition2() const { return _softLimitPosition2; }
+    void SDMotorConfigObject::setSoftLimitPosition2(eipScanner::cip::CipDint softLimitPosition2) { _softLimitPosition2 = softLimitPosition2; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getPositiveLimitConnector() const { return _positiveLimitConnector; }
+    void SDMotorConfigObject::setPositiveLimitConnector(eipScanner::cip::CipSint positiveLimitConnector) { _positiveLimitConnector = positiveLimitConnector; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getNegativeLimitConnector() const { return _negativeLimitConnector; }
+    void SDMotorConfigObject::setNegativeLimitConnector(eipScanner::cip::CipSint negativeLimitConnector) { _negativeLimitConnector = negativeLimitConnector; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getHomeSensorConnector() const { return _homeSensorConnector; }
+    void SDMotorConfigObject::setHomeSensorConnector(eipScanner::cip::CipSint homeSensorConnector) { _homeSensorConnector = homeSensorConnector; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getBrakeOutputConnector() const { return _brakeOutputConnector; }
+    void SDMotorConfigObject::setBrakeOutputConnector(eipScanner::cip::CipSint brakeOutputConnector) { _brakeOutputConnector = brakeOutputConnector; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getTriggerPositionCaptureConnector() const { return _triggerPositionCaptureConnector; }
+    void SDMotorConfigObject::setTriggerPositionCaptureConnector(eipScanner::cip::CipSint triggerPositionCaptureConnector) { _triggerPositionCaptureConnector = triggerPositionCaptureConnector; }
+
+    eipScanner::cip::CipDint SDMotorConfigObject::getMaxDecelerationRate() const { return _maxDecelerationRate; }
+    void SDMotorConfigObject::setMaxDecelerationRate(eipScanner::cip::CipDint maxDecelerationRate) { _maxDecelerationRate = maxDecelerationRate; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getStopSensorConnector() const { return _stopSensorConnector; }
+    void SDMotorConfigObject::setStopSensorConnector(eipScanner::cip::CipSint stopSensorConnector) { _stopSensorConnector = stopSensorConnector; }
+
+    eipScanner::cip::CipSint SDMotorConfigObject::getFollowEncoderMode() const { return _followEncoderMode; }
+    void SDMotorConfigObject::setFollowEncoderMode(eipScanner::cip::CipSint followEncoderMode) { _followEncoderMode = followEncoderMode; }
+
+    eipScanner::cip::CipDint SDMotorConfigObject::getFollowDivisor() const { return _followDivisor; }
+    void SDMotorConfigObject::setFollowDivisor(eipScanner::cip::CipDint followDivisor) { _followDivisor = followDivisor; }
+
+    eipScanner::cip::CipDint SDMotorConfigObject::getFollowMultiplier() const { return _followMultiplier; }
+    void SDMotorConfigObject::setFollowMultiplier(eipScanner::cip::CipDint followMultiplier) { _followMultiplier = followMultiplier; }
+}
+}
+}
+}