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ethercat
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Merge branch '179-add-missing-functions-to-fake-library' into 'stable-1.6' 

Add missing functions to fake library

Closes #179

See merge request etherlab.org/ethercat!175
This commit is contained in:
Florian Pose 2025-06-30 16:02:05 +02:00
parent 0561fa0bd9 f9b9f7c2cc
commit 101aa52032
2 changed files with 270 additions and 142 deletions
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408
fake_lib/fakeethercat.cpp
View File

@ -1,6 +1,7 @@
/*****************************************************************************
*
* Copyright (C) 2024 Bjarne von Horn, Ingenieurgemeinschaft IgH
* 2025 Florian Pose <fp@igh.de>
*
* This file is part of the IgH EtherCAT master userspace library.
*
@ -32,11 +33,14 @@
#include <ios>
#include <sys/stat.h>
/****************************************************************************/
static std::ostream &operator<<(std::ostream &os, const sdo_address &a)
{
os << std::setfill('0') << std::hex << std::setw(6) << a.getCombined();
return os;
}
static std::ostream &operator<<(std::ostream &os, const ec_address &a)
{
os << std::setfill('0') << std::hex << std::setw(8) << a.getCombined();
@ -104,124 +108,9 @@ Offset pdo::findEntry(uint16_t idx, uint8_t subindex) const
return NotFound;
}
ec_domain::ec_domain(rtipc *rtipc, const char *prefix, ec_master_t *master):
rt_group(rtipc_create_group(rtipc, 1.0)), prefix(prefix), master(master)
{
}
int ec_domain::activate()
{
std::unordered_set<uint32_t> slaves;
connected.resize(mapped_pdos.size());
size_t idx = 0;
for (const auto &pdo : mapped_pdos)
{
slaves.insert(pdo.slave_address.getCombined());
void *rt_pdo = nullptr;
char buf[512];
const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%08X/%04X",
prefix, master->getId(), pdo.slave_address.getCombined(),
pdo.pdo_index);
if (fmt < 0 || fmt >= (int)sizeof(buf))
{
return -ENOBUFS;
}
switch (pdo.dir)
{
case EC_DIR_OUTPUT:
rt_pdo = rtipc_txpdo(rt_group, buf, rtipc_uint8_T,
data.data() + pdo.offset, pdo.size_bytes);
std::cerr << "Registering " << buf << " as Output\n";
break;
case EC_DIR_INPUT:
rt_pdo = rtipc_rxpdo(rt_group, buf, rtipc_uint8_T,
data.data() + pdo.offset, pdo.size_bytes,
connected.data() + idx);
std::cerr << "Registering " << buf << " as Input\n";
break;
default:
std::cerr << "Unknown direction " << pdo.dir << '\n';
return -1;
}
if (!rt_pdo)
{
std::cerr << "Failed to register RtIPC PDO\n";
return -1;
}
++idx;
}
activated_ = true;
numSlaves = slaves.size();
return 0;
}
int ec_domain::process()
{
rtipc_rx(rt_group);
return 0;
}
int ec_domain::queue()
{
rtipc_tx(rt_group);
return 0;
}
ssize_t ec_domain::map(ec_slave_config const &config,
unsigned int syncManager, uint16_t pdo_index)
{
if (activated_)
return -1;
for (const auto &pdo : mapped_pdos)
{
if (pdo.slave_address == config.address
&& syncManager == pdo.syncManager
&& pdo_index == pdo.pdo_index)
{
// already mapped;
return pdo.offset;
}
}
const auto ans = data.size();
const auto size =
config.sync_managers.at(syncManager).pdos.at(pdo_index).sizeInBytes();
mapped_pdos.emplace_back(ans, size, config.address, syncManager,
pdo_index, config.sync_managers.at(syncManager).dir);
data.resize(ans + size);
return ans;
}
uint8_t *ecrt_domain_data(
const ec_domain_t *domain)
{
return domain->getData();
}
int ecrt_domain_process(
ec_domain_t *domain)
{
return domain->process();
}
int ecrt_domain_queue(
ec_domain_t *domain)
{
return domain->queue();
}
int ecrt_domain_state(
const ec_domain_t *domain, /**< Domain. */
ec_domain_state_t *state /**< Pointer to a state object to store the
information. */
)
{
state->working_counter = domain->getNumSlaves();
state->redundancy_active = 0;
state->wc_state = EC_WC_COMPLETE;
return 0;
}
/*****************************************************************************
* Master
****************************************************************************/
int ec_master::activate()
{
@ -492,6 +381,10 @@ ec_master::ec_master(int id):
{
}
/*****************************************************************************
* Slave Configuration
****************************************************************************/
int ecrt_slave_config_complete_sdo(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< Index of the SDO to configure. */
@ -553,8 +446,8 @@ int ecrt_slave_config_pdos(
{
return 0;
}
auto &manager = sc->sync_managers[syncs[sync_idx].index];
manager.dir = syncs[sync_idx].dir;
auto &syncManager = sc->sync_managers[syncs[sync_idx].index];
syncManager.dir = syncs[sync_idx].dir;
for (unsigned int i = 0; i < syncs[sync_idx].n_pdos; ++i)
{
const auto &in_pdo = syncs[sync_idx].pdos[i];
@ -563,7 +456,7 @@ int ecrt_slave_config_pdos(
std::cerr << "Default mapping not supported.";
return -1;
}
auto &out_pdo = manager.pdos[in_pdo.index];
auto &out_pdo = syncManager.pdos[in_pdo.index];
for (unsigned int pdo_entry_idx = 0;
pdo_entry_idx < in_pdo.n_entries; ++pdo_entry_idx)
{
@ -575,32 +468,108 @@ int ecrt_slave_config_pdos(
return 0;
}
int ecrt_domain_reg_pdo_entry_list(
ec_domain_t *domain, /**< Domain. */
const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
registrations. */
)
int ecrt_slave_config_sync_manager(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
ec_direction_t direction, /**< Input/Output. */
ec_watchdog_mode_t watchdog_mode /** Watchdog mode. */
)
{
const ec_pdo_entry_reg_t *reg;
ec_slave_config_t *sc;
int ret;
return 0;
}
for (reg = pdo_entry_regs; reg->index; reg++)
{
if (!(sc = ecrt_master_slave_config(
domain->getMaster(), reg->alias,
reg->position, reg->vendor_id, reg->product_code)))
return -ENOENT;
int ecrt_slave_config_watchdog(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t watchdog_divider, /**< Number of 40 ns intervals (register
0x0400). Used as a base unit for all
slave watchdogs^. If set to zero, the
value is not written, so the default is
used. */
uint16_t watchdog_intervals /**< Number of base intervals for sync
manager watchdog (register 0x0420). If
set to zero, the value is not written,
so the default is used. */
)
{
return 0;
}
if ((ret = ecrt_slave_config_reg_pdo_entry(
sc, reg->index, reg->subindex, domain,
reg->bit_position)) < 0)
return ret;
int ecrt_slave_config_pdo_assign_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
uint16_t index /**< Index of the PDO to assign. */
)
{
auto &syncManager = sc->sync_managers[sync_index];
syncManager.pdos[index];
return 0;
}
*reg->offset = ret;
int ecrt_slave_config_pdo_assign_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
)
{
auto &syncManager = sc->sync_managers[sync_index];
syncManager.pdos.clear();
return 0;
}
int ecrt_slave_config_pdo_mapping_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index, /**< Index of the PDO. */
uint16_t entry_index, /**< Index of the PDO entry to add to the PDO's
mapping. */
uint8_t entry_subindex, /**< Subindex of the PDO entry to add to the
PDO's mapping. */
uint8_t entry_bit_length /**< Size of the PDO entry in bit. */
)
{
for (auto smIt = sc->sync_managers.begin();
smIt != sc->sync_managers.end();
++smIt) {
auto pdoIt = smIt->second.pdos.find(pdo_index);
if (pdoIt == smIt->second.pdos.end()) {
continue;
}
ec_pdo_entry_info_t entry_info;
entry_info.index = entry_index;
entry_info.subindex = entry_subindex;
entry_info.bit_length = entry_bit_length;
pdoIt->second.entries.push_back(entry_info);
return 0;
}
std::cerr << __func__ << "(): PDO " << std::hex << pdo_index
<< " not found." << std::endl;
return -1;
}
int ecrt_slave_config_pdo_mapping_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index /**< Index of the PDO. */
)
{
for (auto smIt = sc->sync_managers.begin();
smIt != sc->sync_managers.end();
++smIt) {
auto pdoIt = smIt->second.pdos.find(pdo_index);
if (pdoIt == smIt->second.pdos.end()) {
continue;
}
pdoIt->second.entries.clear();
return 0;
}
std::cerr << __func__ << "(): PDO " << std::hex << pdo_index
<< " not found." << std::endl;
return -1;
}
int ecrt_slave_config_reg_pdo_entry(
@ -693,6 +662,161 @@ int ecrt_slave_config_sdo(
return 0;
}
/*****************************************************************************
* Domain
****************************************************************************/
int ecrt_domain_reg_pdo_entry_list(
ec_domain_t *domain, /**< Domain. */
const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
registrations. */
)
{
const ec_pdo_entry_reg_t *reg;
ec_slave_config_t *sc;
int ret;
for (reg = pdo_entry_regs; reg->index; reg++)
{
if (!(sc = ecrt_master_slave_config(
domain->getMaster(), reg->alias,
reg->position, reg->vendor_id, reg->product_code)))
return -ENOENT;
if ((ret = ecrt_slave_config_reg_pdo_entry(
sc, reg->index, reg->subindex, domain,
reg->bit_position)) < 0)
return ret;
*reg->offset = ret;
}
return 0;
}
uint8_t *ecrt_domain_data(
const ec_domain_t *domain)
{
return domain->getData();
}
int ecrt_domain_process(
ec_domain_t *domain)
{
return domain->process();
}
int ecrt_domain_queue(
ec_domain_t *domain)
{
return domain->queue();
}
int ecrt_domain_state(
const ec_domain_t *domain, /**< Domain. */
ec_domain_state_t *state /**< Pointer to a state object to store the
information. */
)
{
state->working_counter = domain->getNumSlaves();
state->redundancy_active = 0;
state->wc_state = EC_WC_COMPLETE;
return 0;
}
ec_domain::ec_domain(rtipc *rtipc, const char *prefix, ec_master_t *master):
rt_group(rtipc_create_group(rtipc, 1.0)), prefix(prefix), master(master)
{
}
int ec_domain::activate()
{
std::unordered_set<uint32_t> slaves;
connected.resize(mapped_pdos.size());
size_t idx = 0;
for (const auto &pdo : mapped_pdos)
{
slaves.insert(pdo.slave_address.getCombined());
void *rt_pdo = nullptr;
char buf[512];
const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%08X/%04X",
prefix, master->getId(), pdo.slave_address.getCombined(),
pdo.pdo_index);
if (fmt < 0 || fmt >= (int)sizeof(buf))
{
return -ENOBUFS;
}
switch (pdo.dir)
{
case EC_DIR_OUTPUT:
rt_pdo = rtipc_txpdo(rt_group, buf, rtipc_uint8_T,
data.data() + pdo.offset, pdo.size_bytes);
std::cerr << "Registering " << buf << " as Output\n";
break;
case EC_DIR_INPUT:
rt_pdo = rtipc_rxpdo(rt_group, buf, rtipc_uint8_T,
data.data() + pdo.offset, pdo.size_bytes,
connected.data() + idx);
std::cerr << "Registering " << buf << " as Input\n";
break;
default:
std::cerr << "Unknown direction " << pdo.dir << '\n';
return -1;
}
if (!rt_pdo)
{
std::cerr << "Failed to register RtIPC PDO\n";
return -1;
}
++idx;
}
activated_ = true;
numSlaves = slaves.size();
return 0;
}
int ec_domain::process()
{
rtipc_rx(rt_group);
return 0;
}
int ec_domain::queue()
{
rtipc_tx(rt_group);
return 0;
}
ssize_t ec_domain::map(ec_slave_config const &config,
unsigned int syncManager, uint16_t pdo_index)
{
if (activated_)
return -1;
for (const auto &pdo : mapped_pdos)
{
if (pdo.slave_address == config.address
&& syncManager == pdo.syncManager
&& pdo_index == pdo.pdo_index)
{
// already mapped;
return pdo.offset;
}
}
const auto ans = data.size();
const auto size =
config.sync_managers.at(syncManager).pdos.at(pdo_index).sizeInBytes();
mapped_pdos.emplace_back(ans, size, config.address, syncManager,
pdo_index, config.sync_managers.at(syncManager).dir);
data.resize(ans + size);
return ans;
}
/*****************************************************************************
* Helpers
****************************************************************************/
void ecrt_write_lreal(void *data, double const value)
{
memcpy(data, &value, sizeof(value));
@ -717,6 +841,8 @@ double ecrt_read_lreal(const void *data)
return ans;
}
/****************************************************************************/
void ec_slave_config::dumpJson(std::ostream &out, int indent) const
{
out << "{\n";
@ -741,3 +867,5 @@ void ec_slave_config::dumpJson(std::ostream &out, int indent) const
add_spaces(out, indent - 4);
out << "}";
}
/****************************************************************************/

2
fake_lib/fakeethercat.h
View File

@ -61,7 +61,7 @@ struct pdo
struct syncManager
{
ec_direction_t dir;
std::map<uint16_t /* address */, pdo> pdos;
std::map<uint16_t /* index */, pdo> pdos;
};
class ec_address