Skip to main content
Version: 1.1.1

ecdev::GenericIoProfile

Protocol-agnostic digital/analog I/O profile. More...

#include <generic_io_profile.hpp>

Inherits from ecdev::IDeviceProfile, ecdev::IIoProfile, IDeviceLifecycle

Inherited by ecdev::CiA401IoProfile

Public Functions​

Name
virtual voidwriteOutputs(ProcessImage & image, std::uint64_t cycle_count) override
Write output PDO values for this cycle.
virtual voidsetDigitalOutput(std::size_t channel, bool value) override
Command a digital output channel; out-of-range is a no-op.
virtual voidsetAnalogOutput(std::size_t channel, std::int32_t value) override
Command an analog output channel (raw counts); out-of-range is a no-op.
virtual voidresolveTopology(const ProcessImage & image) override
Resolve the static channel/PDO topology from the ENI-derived process image.
virtual voidreadInputs(const ProcessImage & image, bool wkc_valid, bool operational) override
Read input PDO values captured this cycle.
virtual const char *profileName() const override
Stable identifier for diagnostics (e.g.
virtual std::size_tdigitalOutputCount() const override
virtual booldigitalOutput(std::size_t ch) const override
virtual std::size_tdigitalInputCount() const override
virtual booldigitalInput(std::size_t channel) const override
Read a digital input/output channel; out-of-range returns false.
virtual std::stringconfigurePreOp(ISlaveServices & svc, ProcessImage & image) override
Perform CoE / SDO configuration while the slave is in PRE_OP (bus not cycling).
virtual IIoProfile *asIo() override
Query whether this profile exposes digital/analog I/O channels.
virtual std::size_tanalogOutputCount() const override
virtual std::int32_tanalogOutput(std::size_t ch) const override
virtual std::size_tanalogInputCount() const override
virtual std::int32_tanalogInput(std::size_t channel) const override
Read an analog input/output channel (raw counts); out-of-range returns 0.

Public Attributes​

Name
constexpr std::size_tkMaxDigital
constexpr std::size_tkMaxAnalog

Additional inherited members​

Public Functions inherited from ecdev::IDeviceProfile

Name
~IDeviceProfile() override =default
virtual voidprimeOutputs(ProcessImage & image)
Prime output PDO bytes to safe values immediately before the bus enters SAFE_OP (outputs start being transmitted).
virtual std::stringprepareSafeOp(ISlaveServices & svc, ProcessImage & image)
Final configuration step before OPERATIONAL: the slave is in SAFE_OP and the PDO IOmap is live but outputs are not yet driven.
virtual voidcaptureExitDiagnostics(ISlaveServices & svc)
End-of-run hook called after the RT thread has joined; safe to perform SDO reads.
virtual IMotionProfile *asMotion()
Query whether this profile drives a motion (servo) axis.
virtual IEncoderProfile *asEncoder()
Query whether this profile exposes position/velocity encoder readings.

Public Functions inherited from ecdev::IIoProfile

Name
virtual~IIoProfile() =default

Detailed Description​

class ecdev::GenericIoProfile;

Protocol-agnostic digital/analog I/O profile.

Exposes a slave's mapped process data as typed channels through [IIoProfile](/lxmaster/api/classes/IIoProfile), which the IoModule facade wraps – with no dependence on CoE, a specific CiA profile, or any vendor object layout. Works for simple (non-CoE) terminals (e.g. Beckhoff EL2xxx/EL1xxx) as well as CoE I/O.

Channel model (purely structural, from the process image):

  • A PDO object in the CiA 401 digital area (0x6000-0x63FF) is treated as packed booleans and expanded to one digital channel per bit.
  • Any other 1-bit entry is a single digital channel (e.g. Beckhoff 0x7000:01 BOOL outputs).
  • Any wider entry is a scalar analog channel (8/16/32-bit). Direction follows the PDO (RxPDO = output, TxPDO = input).

Subclasses (e.g. [CiA401IoProfile](/lxmaster/api/classes/CiA401IoProfile)) may override [profileName()](/lxmaster/api/classes/GenericIoProfile#function-profilename) and add device-class specific setup; the channel logic here is shared.

Public Functions Documentation​

function writeOutputs​

virtual void writeOutputs(
    ProcessImage & image,
    std::uint64_t cycle_count
) override

Write output PDO values for this cycle.

Parameters:

  • image Live PDO byte map for this slave's output objects; write target values into it.
  • cycle_count Total RT cycles executed since start() (monotonically increasing).

Reimplements: ecdev::IDeviceProfile::writeOutputs

Called on the RT cyclic thread every cycle while OPERATIONAL.

function setDigitalOutput​

inline virtual void setDigitalOutput(
    std::size_t channel,
    bool value
) override

Command a digital output channel; out-of-range is a no-op.

Reimplements: ecdev::IIoProfile::setDigitalOutput

function setAnalogOutput​

inline virtual void setAnalogOutput(
    std::size_t channel,
    std::int32_t value
) override

Command an analog output channel (raw counts); out-of-range is a no-op.

Reimplements: ecdev::IIoProfile::setAnalogOutput

function resolveTopology​

inline virtual void resolveTopology(
    const ProcessImage & image
) override

Resolve the static channel/PDO topology from the ENI-derived process image.

Parameters:

  • image ENI-derived process image carrying the PDO geometry for this slave.

Reimplements: ecdev::IDeviceProfile::resolveTopology

Called once when the profile is attached to its device (during binding, before start()), so facade capability queries such as IIoProfile::digitalOutputCount() are valid as soon as the bus is bound — before any live PRE_OP SDO work. The image carries only ENI geometry here (it is not yet bound to the live IOmap), which is all a structural resolve needs. Default: no-op. Idempotent: configurePreOp may resolve again from the same image during start().

function readInputs​

virtual void readInputs(
    const ProcessImage & image,
    bool wkc_valid,
    bool operational
) override

Read input PDO values captured this cycle.

Parameters:

  • image Live PDO byte map for this slave's input objects.
  • wkc_valid False when the work counter dropped this cycle — the slave may not have responded and input data may be stale.
  • operational False during the OP-entry cooldown cycles after the master enters OPERATIONAL. Motion commands should be suppressed until this is true.

Reimplements: ecdev::IDeviceProfile::readInputs

Called on the RT cyclic thread every cycle while OPERATIONAL. Profiles should guard state updates on wkc_valid and operational to avoid acting on stale data.

function profileName​

inline virtual const char * profileName() const override

Stable identifier for diagnostics (e.g.

Return: A null-terminated string literal naming this profile class. Must be stable for the lifetime of the profile object (a string literal in practice).

Reimplements: ecdev::IDeviceProfile::profileName

"CiA402-drive").

function digitalOutputCount​

inline virtual std::size_t digitalOutputCount() const override

Reimplements: ecdev::IIoProfile::digitalOutputCount

function digitalOutput​

inline virtual bool digitalOutput(
    std::size_t ch
) const override

Reimplements: ecdev::IIoProfile::digitalOutput

function digitalInputCount​

inline virtual std::size_t digitalInputCount() const override

Reimplements: ecdev::IIoProfile::digitalInputCount

function digitalInput​

inline virtual bool digitalInput(
    std::size_t channel
) const override

Read a digital input/output channel; out-of-range returns false.

Reimplements: ecdev::IIoProfile::digitalInput

function configurePreOp​

virtual std::string configurePreOp(
    ISlaveServices & svc,
    ProcessImage & image
) override

Perform CoE / SDO configuration while the slave is in PRE_OP (bus not cycling).

Parameters:

  • svc Slave services handle for SDO reads/writes and register access.
  • image Process image for this slave; resolve PDO entry handles here for later cyclic use.

Return: Empty string on success; a non-empty human-readable reason string aborts bring-up.

Reimplements: ecdev::IDeviceProfile::configurePreOp

Resolve process-image handles (PDO objects) for use in the cyclic path. Called on the bring-up thread; never on the RT thread.

function asIo​

inline virtual IIoProfile * asIo() override

Query whether this profile exposes digital/analog I/O channels.

Return: A non-null IIoProfile* if so (used to back an IoModule facade handle), or null if this profile does not implement the I/O contract.

Reimplements: ecdev::IDeviceProfile::asIo

function analogOutputCount​

inline virtual std::size_t analogOutputCount() const override

Reimplements: ecdev::IIoProfile::analogOutputCount

function analogOutput​

inline virtual std::int32_t analogOutput(
    std::size_t ch
) const override

Reimplements: ecdev::IIoProfile::analogOutput

function analogInputCount​

inline virtual std::size_t analogInputCount() const override

Reimplements: ecdev::IIoProfile::analogInputCount

function analogInput​

inline virtual std::int32_t analogInput(
    std::size_t channel
) const override

Read an analog input/output channel (raw counts); out-of-range returns 0.

Reimplements: ecdev::IIoProfile::analogInput

Public Attributes Documentation​

variable kMaxDigital​

static constexpr std::size_t kMaxDigital = 256;

variable kMaxAnalog​

static constexpr std::size_t kMaxAnalog = 64;

Updated on 2026-07-13 at 20:44:41 +0000