Version: 1.1.1

ecdev::IDeviceProfile

Device-class behaviour plugged onto a [GenericEniDevice]. More...

#include <device_profile.hpp>

Inherits from IDeviceLifecycle

Inherited by ecdev::CiA402DriveProfile, ecdev::CiA406EncoderProfile, ecdev::GenericIoProfile

Public Functions

	Name
	~IDeviceProfile() override =default
virtual void	writeOutputs(ProcessImage & image, std::uint64_t cycle_count) Write output PDO values for this cycle.
virtual void	resolveTopology(const ProcessImage & image) Resolve the static channel/PDO topology from the ENI-derived process image.
virtual void	readInputs(const ProcessImage & image, bool wkc_valid, bool operational) Read input PDO values captured this cycle.
virtual const char *	profileName() const =0 Stable identifier for diagnostics (e.g.
virtual void	primeOutputs(ProcessImage & image) Prime output PDO bytes to safe values immediately before the bus enters SAFE_OP (outputs start being transmitted).
virtual std::string	prepareSafeOp(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 std::string	configurePreOp(ISlaveServices & svc, ProcessImage & image) Perform CoE / SDO configuration while the slave is in PRE_OP (bus not cycling).
virtual void	captureExitDiagnostics(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 IIoProfile *	asIo() Query whether this profile exposes digital/analog I/O channels.
virtual IEncoderProfile *	asEncoder() Query whether this profile exposes position/velocity encoder readings.

Detailed Description

class ecdev::IDeviceProfile;

Device-class behaviour plugged onto a [GenericEniDevice].

A profile understands the PDO semantics of one EtherCAT device class (CiA 402 drive, CiA 401 digital/analog I/O, CiA 406 encoder, ...) and nothing about the backend, the ENI XML, or the master. It interacts with the world through exactly two narrow contracts:

[ISlaveServices] for setup-time SDO / register / PDO-pulse work (NOT on the RT path).
[ProcessImage] for per-cycle reads/writes of mapped objects (RT path).

Selection is done by a [ProfileRegistry](/lxmaster/api/classes/ProfileRegistry); a new device class is added by registering a new profile, with no change to the generic device or the orchestration layer.

Threading: configurePreOp/prepareSafeOp/shutdown hooks run on the bring-up/shutdown thread while the bus is not in OPERATIONAL; writeOutputs/readInputs run on the RT cyclic thread. A profile that exposes data to application threads must do so through its own lock-free state (e.g. atomics), exactly as the facades expect.

Public Functions Documentation

function ~IDeviceProfile

~IDeviceProfile() override =default

function writeOutputs

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

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).

Reimplemented by: ecdev::CiA402DriveProfile::writeOutputs, ecdev::GenericIoProfile::writeOutputs

Called on the RT cyclic thread every cycle while OPERATIONAL.

function resolveTopology

inline virtual void resolveTopology(
    const ProcessImage & image
)

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.

Reimplemented by: ecdev::GenericIoProfile::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

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

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.

Reimplemented by: ecdev::CiA402DriveProfile::readInputs, ecdev::CiA406EncoderProfile::readInputs, ecdev::GenericIoProfile::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

virtual const char * profileName() const =0

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).

Reimplemented by: ecdev::CiA401IoProfile::profileName, ecdev::CiA402DriveProfile::profileName, ecdev::CiA406EncoderProfile::profileName, ecdev::GenericIoProfile::profileName

"CiA402-drive").

function primeOutputs

inline virtual void primeOutputs(
    ProcessImage & image
)

Prime output PDO bytes to safe values immediately before the bus enters SAFE_OP (outputs start being transmitted).

Parameters:

image Live PDO byte map; write safe initial output values into it.

Reimplemented by: ecdev::CiA402DriveProfile::primeOutputs

For example, a CiA402 profile writes a Shutdown controlword here so the drive sees a valid initial state before the RT cycle starts. Called on the bring-up thread.

function prepareSafeOp

inline virtual std::string prepareSafeOp(
    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.

Parameters:

svc Slave services handle for SDO reads/writes.
image Live process image (IOmap is mapped but outputs are not yet driven).

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

Reimplemented by: ecdev::CiA402DriveProfile::prepareSafeOp

Use this for last-moment readiness checks or any SDO writes that must happen after the IOmap is mapped. Called on the bring-up thread; never on the RT thread.

function configurePreOp

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

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.

Reimplemented by: ecdev::CiA402DriveProfile::configurePreOp, ecdev::CiA406EncoderProfile::configurePreOp, ecdev::GenericIoProfile::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 captureExitDiagnostics

inline virtual void captureExitDiagnostics(
    ISlaveServices & svc
)

End-of-run hook called after the RT thread has joined; safe to perform SDO reads.

Parameters:

svc Slave services handle available for post-run SDO reads (e.g. fault codes).

Reimplemented by: ecdev::CiA402DriveProfile::captureExitDiagnostics

function asMotion

inline virtual IMotionProfile * asMotion()

Query whether this profile drives a motion (servo) axis.

Return: A non-null IMotionProfile* if so (used to back an Axis facade handle), or null if this profile does not implement the motion contract.

Reimplemented by: ecdev::CiA402DriveProfile::asMotion

function asIo

inline virtual IIoProfile * asIo()

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.

Reimplemented by: ecdev::GenericIoProfile::asIo

function asEncoder

inline virtual IEncoderProfile * asEncoder()

Query whether this profile exposes position/velocity encoder readings.

Return: A non-null IEncoderProfile* if so (used to back an Encoder facade handle), or null if this profile does not implement the encoder contract.

Reimplemented by: ecdev::CiA406EncoderProfile::asEncoder

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

Public Functions​

Detailed Description​

Public Functions Documentation​

function ~IDeviceProfile​

function writeOutputs​

function resolveTopology​

function readInputs​

function profileName​

function primeOutputs​

function prepareSafeOp​

function configurePreOp​

function captureExitDiagnostics​

function asMotion​

function asIo​

function asEncoder​

Public Functions

Detailed Description

Public Functions Documentation

function ~IDeviceProfile

function writeOutputs

function resolveTopology

function readInputs

function profileName

function primeOutputs

function prepareSafeOp

function configurePreOp

function captureExitDiagnostics

function asMotion

function asIo

function asEncoder