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ENI: Bring a bus up from an EtherCAT Network Information file - #450

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ENI: Bring a bus up from an EtherCAT Network Information file#450
leducp wants to merge 1 commit into
eni_parser_pdfrom
eni_sequencer

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@leducp leducp commented Oct 1, 2026

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  • Run the ENI startup commands for every state transition, up to SAFE_OP and back down.
  • Refuse an ENI that disagrees with the slaves: count, identity, explicit identification, mailbox protocols and layout.

@leducp
leducp added this pull request to stack #453 October 4, 2026 07:27
@leducp
leducp removed this pull request from stack #453 October 5, 2026 07:48
@leducp
leducp added this pull request to stack #454 October 5, 2026 07:48
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File Coverage Lines Branches
All files 87% 90% 84% ✅
lib/include/kickcat/Error.h 91% 100% 83% ✅
lib/include/kickcat/LockedRing.h 87% 94% 81% ✅
lib/include/kickcat/LoopbackSocket.h 81% 82% 80% ✅
lib/include/kickcat/SimulatorControl.h 84% 97% 70% ✅
lib/include/kickcat/utils/xml.h 98% 100% 97% ✅
lib/master/include/kickcat/AbstractLink.h 95% 90% 100% ✅
lib/master/src/Bus.cc 92% 94% 90% ✅
lib/master/src/CoE.cc 75% 80% 70% ✅
lib/master/src/FoE.cc 98% 100% 96% ✅
lib/master/src/Link.cc 98% 100% 97% ✅
lib/master/src/MailboxSequencer.cc 97% 100% 94% ✅
lib/master/src/MasterOD.cc 99% 99% 100% ✅
lib/master/src/Prints.cc 88% 88% 88% ✅
lib/master/src/Slave.cc 72% 87% 58% ❌
lib/master/src/dc.cc 76% 82% 70% ✅
lib/master/src/CoE/CiA/DS402/Drive.cc 78% 87% 70% ✅
lib/master/src/ENI/Sequencer.cc 88% 93% 83% ✅
lib/simulation/include/kickcat/simulation/devices/Ds402Motor.h 75% 91% 58% ✅
lib/simulation/src/DirectoryStorage.cc 93% 94% 92% ✅
lib/simulation/src/SimulatedSlave.cc 57% 67% 47% ❌
lib/simulation/src/SimulatorControlServer.cc 91% 97% 84% ✅
lib/simulation/src/Topology.cc 73% 70% 76% ❌
lib/slave/src/AbstractESC.cc 94% 100% 88% ✅
lib/slave/src/AbstractEmulatedEEPROM.cc 0% 0% 0% ❌
lib/slave/src/ESMStates.cc 96% 99% 93% ✅
lib/slave/src/ESM.cc 94% 100% 89% ✅
lib/slave/src/EmulatedNetwork.cc 98% 99% 97% ✅
lib/slave/src/PDO.cc 93% 97% 89% ✅
lib/slave/src/ESC/EmulatedESC.cc 87% 92% 82% ✅
lib/slave/src/ESC/Lan9252.cc 0% 0% 0% ❌
lib/src/Frame.cc 96% 96% 97% ✅
lib/src/Mailbox.cc 92% 96% 89% ✅
lib/src/SIIParser.cc 93% 95% 90% ✅
lib/src/protocol.cc 89% 87% 92% ✅
lib/src/CoE/OD.cc 95% 96% 94% ✅
lib/src/CoE/protocol.cc 92% 92% 92% ✅
lib/src/CoE/CiA/DS402/StateMachine.cc 93% 94% 92% ✅
lib/src/CoE/mailbox/request.cc 85% 86% 83% ✅
lib/src/CoE/mailbox/response.cc 87% 92% 82% ✅
lib/src/ENI/Parser.cc 97% 99% 95% ✅
lib/src/ESI/Parser.cc 86% 89% 83% ✅
lib/src/ESI/SIIBuilder.cc 86% 94% 77% ✅
lib/src/EoE/protocol.cc 0% 0% 0% ❌
lib/src/FoE/protocol.cc 22% 28% 17% ❌
lib/src/FoE/mailbox/request.cc 95% 97% 93% ✅
lib/src/FoE/mailbox/response.cc 89% 93% 86% ✅
lib/src/utils/xml.cc 96% 98% 95% ✅
lib/src/utils/xsd.cc 96% 98% 95% ✅

Minimum allowed coverage is 75%

Generated by 🐒 cobertura-action against f66b6c4

@leducp
ENI: Bring a bus up from an EtherCAT Network Information file
f66b6c4 
- Run the ENI startup commands for every state transition, up to SAFE_OP and
  back down. A failed command is resent within its Timeout, a Validate polls
  within its own.
- Refuse an ENI that disagrees with the slaves: count, identity and explicit
  identification before any device specific command, then mailbox protocols
  and layout.
- Upload CoE objects whatever their size: readSDO() can fill a vector sized
  as the slave announces.

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