Adds multi domain support - #227
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This commit introduces full multi-domain support for generic EtherCAT slaves.
Previously, only structural hints for multi-domain usage existed,
but no functional support was implemented.
The EcMaster::updateData, readData, and writeData methods have been extended
to properly iterate over and operate on multiple domains.
The generic slave configuration parser has been modified so it indexes
channel entries to the specified domain.
In the generic slave configuration yaml file, each PDO entry can now specify a domain,
and multiple PDOs may share the same domain if required.
e.g.:
rpdo:
- index: 0x1600
domain: 0
channels:
- { index: 0x2000, sub_index: 0x01, type: uint8, command_interface: command }
tpdo:
- index: 0x1a00
domain: 1
channels:
- { index: 0x2001, sub_index: 0x01, type: uint8, state_interface: status }
This enables separating process data into dedicated read-only and write-only domains. This is required for compatibility with slaves that do not support mixed read/write EtherCAT commands within a single domain.
This change remains backwards compatible, where no domain is specified,
so all channel entries share the same domain (index = 0)
This commit does not change any current test, also neither adds or removes test. The only change here is the implict use of domain index = 0 for all tests, so they work as before.
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Adds multi domain support, needed to split RPDOs from TPDOs from each other so LRD and LWR protocol commands are issued instead of LRW
note: this PR is locally build on top of #182