From 802f86090ba60c571c6b4316b91cb1a11efdef94 Mon Sep 17 00:00:00 2001
From: Philipp Jungkamp <philipp.jungkamp@rwth-aachen.de>
Date: Wed, 16 Oct 2024 21:23:14 +0200
Subject: [PATCH] node-ethercat: Fix #include after opened namespace

The `ethercat_config.hpp` header was included from `ethercat.hpp`
after opening the `villas::node` namespace. This made all definitions
originating from that header including the transitive definitions
from ethercat's `ecrt.h` part of the `villas::node` namespace.

The especially problematic part was that `ecrt.h` itself has an
`#include <netinet/in.h>` introduced in [1]. This caused the libc
definitions for `sa_familt_t`, `sockaddr_in` and `sockaddr_in6` to be
moved into the `villas::node` namespace, causing build error on recent
`ethercat` versions.

[1]: https://gitlab.com/etherlab.org/ethercat/-/commit/c2f9baf96ae0c0619dead65e19d3ace0e66f031b

Signed-off-by: Philipp Jungkamp <philipp.jungkamp@rwth-aachen.de>
---
 include/villas/nodes/ethercat.hpp        | 20 +++++++-------------
 include/villas/nodes/ethercat_config.hpp |  4 ++++
 2 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/include/villas/nodes/ethercat.hpp b/include/villas/nodes/ethercat.hpp
index bd16c7b65..0476ac1da 100644
--- a/include/villas/nodes/ethercat.hpp
+++ b/include/villas/nodes/ethercat.hpp
@@ -18,22 +18,17 @@
 #include <villas/queue_signalled.h>
 #include <villas/task.hpp>
 
-namespace villas {
-namespace node {
+// Include hard-coded Ethercat Bus configuration
+#include <villas/nodes/ethercat_config.hpp>
+
+#define DEFAULT_ETHERCAT_QUEUE_LENGTH (DEFAULT_QUEUE_LENGTH * 64)
+
+namespace villas::node {
 
 // Forward declarations
 class NodeCompat;
 class SuperNode;
 
-// Include hard-coded Ethercat Bus configuration
-#include <villas/nodes/ethercat_config.hpp>
-
-extern "C" {
-#include <ecrt.h>
-}
-
-#define DEFAULT_ETHERCAT_QUEUE_LENGTH (DEFAULT_QUEUE_LENGTH * 64)
-
 // Internal data per ethercat node
 struct ethercat {
   // Settings
@@ -91,5 +86,4 @@ int ethercat_read(NodeCompat *n, struct Sample *const smps[], unsigned cnt);
 
 int ethercat_write(NodeCompat *n, struct Sample *const smps[], unsigned cnt);
 
-} // namespace node
-} // namespace villas
+} // namespace villas::node
diff --git a/include/villas/nodes/ethercat_config.hpp b/include/villas/nodes/ethercat_config.hpp
index 4b1c2816f..819adfde2 100644
--- a/include/villas/nodes/ethercat_config.hpp
+++ b/include/villas/nodes/ethercat_config.hpp
@@ -25,6 +25,8 @@
 #define ETHERCAT_PID_EL3008 0x0bc03052
 #define ETHERCAT_PID_FC1100 0x044c0c62
 
+namespace villas::node {
+
 // TODO: Make PDO entry tables configurable
 
 /* Master 0, Slave 3, "EL4038"
@@ -168,3 +170,5 @@ static ec_sync_info_t slave_4_syncs[] = {
     {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
     {3, EC_DIR_INPUT, 8, slave_4_pdos + 0, EC_WD_DISABLE},
     {0xff}};
+
+} // namespace villas::node