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ethercat
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Merge branch '156-hint-for-user-regarding-fake_ec_name' into 'stable-1.6' 

Resolve "Hint for user regarding: FAKE_EC_NAME"

Closes #156

See merge request etherlab.org/ethercat!163
This commit is contained in:
Florian Pose 2025-03-18 11:44:01 +01:00
parent b9b493336c a460324d94
commit 319d7f8cd4
1 changed files with 90 additions and 37 deletions
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127
fake_lib/fakeethercat.cpp
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@ -52,7 +52,8 @@ static void add_spaces(std::ostream &out, int const num)
} }
template <typename Map, typename Func> template <typename Map, typename Func>
static void map2Json(std::ostream &out, const Map &map, Func &&print_func, int indent = 0) static void map2Json(std::ostream &out, const Map &map, Func &&print_func,
int indent = 0)
{ {
indent += 4; indent += 4;
out << "{"; out << "{";
@ -69,7 +70,8 @@ static void map2Json(std::ostream &out, const Map &map, Func &&print_func, int i
out << ",\n"; out << ",\n";
} }
add_spaces(out, indent); add_spaces(out, indent);
out << "\"0x" << std::hex << std::setfill('0') << std::setw(2 * sizeof(typename Map::key_type)); out << "\"0x" << std::hex << std::setfill('0')
<< std::setw(2 * sizeof(typename Map::key_type));
out << kv.first << "\": "; out << kv.first << "\": ";
print_func(out, kv.second); print_func(out, kv.second);
} }
@ -102,7 +104,8 @@ Offset pdo::findEntry(uint16_t idx, uint8_t subindex) const
return NotFound; 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) 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)
{ {
} }
@ -117,7 +120,9 @@ int ec_domain::activate()
slaves.insert(pdo.slave_address.getCombined()); slaves.insert(pdo.slave_address.getCombined());
void *rt_pdo = nullptr; void *rt_pdo = nullptr;
char buf[512]; char buf[512];
const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%08X/%04X", prefix, master->getId(), pdo.slave_address.getCombined(), pdo.pdo_index); 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)) if (fmt < 0 || fmt >= (int)sizeof(buf))
{ {
return -ENOBUFS; return -ENOBUFS;
@ -126,11 +131,14 @@ int ec_domain::activate()
switch (pdo.dir) switch (pdo.dir)
{ {
case EC_DIR_OUTPUT: case EC_DIR_OUTPUT:
rt_pdo = rtipc_txpdo(rt_group, buf, rtipc_uint8_T, data.data() + pdo.offset, pdo.size_bytes); rt_pdo = rtipc_txpdo(rt_group, buf, rtipc_uint8_T,
data.data() + pdo.offset, pdo.size_bytes);
std::cerr << "Registering " << buf << " as Output\n"; std::cerr << "Registering " << buf << " as Output\n";
break; break;
case EC_DIR_INPUT: case EC_DIR_INPUT:
rt_pdo = rtipc_rxpdo(rt_group, buf, rtipc_uint8_T, data.data() + pdo.offset, pdo.size_bytes, connected.data() + idx); 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"; std::cerr << "Registering " << buf << " as Input\n";
break; break;
default: default:
@ -161,22 +169,26 @@ int ec_domain::queue()
return 0; return 0;
} }
ssize_t ec_domain::map(ec_slave_config const &config, unsigned int syncManager, ssize_t ec_domain::map(ec_slave_config const &config,
uint16_t pdo_index) unsigned int syncManager, uint16_t pdo_index)
{ {
if (activated_) if (activated_)
return -1; return -1;
for (const auto &pdo : mapped_pdos) for (const auto &pdo : mapped_pdos)
{ {
if (pdo.slave_address == config.address && syncManager == pdo.syncManager && pdo_index == pdo.pdo_index) if (pdo.slave_address == config.address
&& syncManager == pdo.syncManager
&& pdo_index == pdo.pdo_index)
{ {
// already mapped; // already mapped;
return pdo.offset; return pdo.offset;
} }
} }
const auto ans = data.size(); const auto ans = data.size();
const auto size = config.sync_managers.at(syncManager).pdos.at(pdo_index).sizeInBytes(); const auto size =
mapped_pdos.emplace_back(ans, size, config.address, syncManager, pdo_index, config.sync_managers.at(syncManager).dir); 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); data.resize(ans + size);
return ans; return ans;
} }
@ -192,6 +204,7 @@ int ecrt_domain_process(
{ {
return domain->process(); return domain->process();
} }
int ecrt_domain_queue( int ecrt_domain_queue(
ec_domain_t *domain) ec_domain_t *domain)
{ {
@ -226,7 +239,8 @@ int ec_master::activate()
return -1; return -1;
} }
out << "{\n \"slaves\": "; out << "{\n \"slaves\": ";
map2Json(out, slaves, [](std::ostream &out, const ec_slave_config &slave) map2Json(out, slaves, [](std::ostream &out,
const ec_slave_config &slave)
{ slave.dumpJson(out, 8); }, 4); { slave.dumpJson(out, 8); }, 4);
out << "\n}\n"; out << "\n}\n";
} }
@ -275,10 +289,11 @@ ec_domain *ec_master::createDomain()
domains.emplace_back(rt_ipc.get(), getPrefix(), this); domains.emplace_back(rt_ipc.get(), getPrefix(), this);
return &domains.back(); return &domains.back();
} }
int ecrt_master_link_state( int ecrt_master_link_state(
const ec_master_t *master, /**< EtherCAT master. */ const ec_master_t *master, /**< EtherCAT master. */
unsigned int dev_idx, /**< Index of the device (0 = main device, 1 = unsigned int dev_idx, /**< Index of the device (0 = main device,
first backup device, ...). */ 1 = first backup device, ...). */
ec_master_link_state_t *state /**< Structure to store the information. ec_master_link_state_t *state /**< Structure to store the information.
*/ */
) )
@ -342,19 +357,25 @@ ec_slave_config_t *ec_master::slave_config(
const auto it = slaves.find(address); const auto it = slaves.find(address);
if (it != slaves.end()) if (it != slaves.end())
{ {
if (it->second.vendor_id == vendor_id && it->second.product_code == product_code) if (it->second.vendor_id == vendor_id
&& it->second.product_code == product_code)
return &it->second; return &it->second;
else else
{ {
std::cerr << "Attempted to reconfigure slave (" << alias << "," << position << ")!\n"; std::cerr << "Attempted to reconfigure slave (" << alias
<< "," << position << ")!\n";
return nullptr; return nullptr;
} }
} }
else else
{ {
return &slaves.insert(std::make_pair<ec_address, ec_slave_config>(ec_address{address}, ec_slave_config{address, vendor_id, product_code})).first->second; return &slaves.insert(std::make_pair<ec_address,
ec_slave_config>(ec_address{address},
ec_slave_config{address, vendor_id,
product_code})).first->second;
} }
} }
int ecrt_master_state( int ecrt_master_state(
const ec_master_t *master, /**< EtherCAT master. */ const ec_master_t *master, /**< EtherCAT master. */
ec_master_state_t *state /**< Structure to store the information. */ ec_master_state_t *state /**< Structure to store the information. */
@ -379,6 +400,7 @@ uint32_t ecrt_master_sync_monitor_process(
{ {
return 32; return 32;
} }
int ecrt_master_sync_reference_clock( int ecrt_master_sync_reference_clock(
ec_master_t *master /**< EtherCAT master. */ ec_master_t *master /**< EtherCAT master. */
) )
@ -400,6 +422,7 @@ int ecrt_master_sync_slave_clocks(
{ {
return 0; return 0;
} }
void ecrt_release_master(ec_master_t *master) void ecrt_release_master(ec_master_t *master)
{ {
delete master; delete master;
@ -414,11 +437,20 @@ ec_master_t *ecrt_request_master(
static const char *getName() static const char *getName()
{ {
static const char *default_name = "FakeEtherCAT";
if (const auto ans = getenv("FAKE_EC_NAME")) if (const auto ans = getenv("FAKE_EC_NAME"))
{ {
return ans; return ans;
} }
return "FakeEtherCAT";
std::cerr
<< "\nThe environment variable \"FAKE_EC_NAME\" is not set.\n"
<< "Using the default value \"" << default_name << "\".\n"
<< "Please consider to set unique names when using multiple"
<< " instances.\n\n";
return default_name;
} }
static int mkpath(const std::string &file_path) static int mkpath(const std::string &file_path)
@ -454,7 +486,9 @@ static std::string getRtIpcDir(int idx)
return ans; return ans;
} }
ec_master::ec_master(int id) : rt_ipc_dir(getRtIpcDir(id)), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())), id_(id) ec_master::ec_master(int id):
rt_ipc_dir(getRtIpcDir(id)), rt_ipc_name(getName()),
rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())), id_(id)
{ {
} }
@ -467,6 +501,7 @@ int ecrt_slave_config_complete_sdo(
{ {
return ecrt_slave_config_sdo(sc, index, 0, data, size); return ecrt_slave_config_sdo(sc, index, 0, data, size);
} }
ec_sdo_request_t *ecrt_slave_config_create_sdo_request( ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
ec_slave_config_t *sc, /**< Slave configuration. */ ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< SDO index. */ uint16_t index, /**< SDO index. */
@ -476,6 +511,7 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
{ {
return nullptr; return nullptr;
} }
int ecrt_slave_config_dc( int ecrt_slave_config_dc(
ec_slave_config_t *sc, /**< Slave configuration. */ ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t assign_activate, /**< AssignActivate word. */ uint16_t assign_activate, /**< AssignActivate word. */
@ -487,6 +523,7 @@ int ecrt_slave_config_dc(
{ {
return 0; return 0;
} }
int ecrt_slave_config_idn( int ecrt_slave_config_idn(
ec_slave_config_t *sc, /**< Slave configuration. */ ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t drive_no, /**< Drive number. */ uint8_t drive_no, /**< Drive number. */
@ -499,6 +536,7 @@ int ecrt_slave_config_idn(
{ {
return 0; return 0;
} }
int ecrt_slave_config_pdos( int ecrt_slave_config_pdos(
ec_slave_config_t *sc, /**< Slave configuration. */ ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int n_syncs, /**< Number of sync manager configurations in unsigned int n_syncs, /**< Number of sync manager configurations in
@ -526,7 +564,8 @@ int ecrt_slave_config_pdos(
return -1; return -1;
} }
auto &out_pdo = manager.pdos[in_pdo.index]; auto &out_pdo = manager.pdos[in_pdo.index];
for (unsigned int pdo_entry_idx = 0; pdo_entry_idx < in_pdo.n_entries; ++pdo_entry_idx) for (unsigned int pdo_entry_idx = 0;
pdo_entry_idx < in_pdo.n_entries; ++pdo_entry_idx)
{ {
out_pdo.entries.push_back(in_pdo.entries[pdo_entry_idx]); out_pdo.entries.push_back(in_pdo.entries[pdo_entry_idx]);
} }
@ -535,6 +574,7 @@ int ecrt_slave_config_pdos(
return 0; return 0;
} }
int ecrt_domain_reg_pdo_entry_list( int ecrt_domain_reg_pdo_entry_list(
ec_domain_t *domain, /**< Domain. */ ec_domain_t *domain, /**< Domain. */
const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
@ -547,12 +587,14 @@ int ecrt_domain_reg_pdo_entry_list(
for (reg = pdo_entry_regs; reg->index; reg++) for (reg = pdo_entry_regs; reg->index; reg++)
{ {
if (!(sc = ecrt_master_slave_config(domain->getMaster(), reg->alias, if (!(sc = ecrt_master_slave_config(
reg->position, reg->vendor_id, reg->product_code))) domain->getMaster(), reg->alias,
reg->position, reg->vendor_id, reg->product_code)))
return -ENOENT; return -ENOENT;
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, if ((ret = ecrt_slave_config_reg_pdo_entry(
reg->subindex, domain, reg->bit_position)) < 0) sc, reg->index, reg->subindex, domain,
reg->bit_position)) < 0)
return ret; return ret;
*reg->offset = ret; *reg->offset = ret;
@ -574,17 +616,20 @@ int ecrt_slave_config_reg_pdo_entry(
{ {
for (auto pdo_it : sync_it.second.pdos) for (auto pdo_it : sync_it.second.pdos)
{ {
const auto offset = pdo_it.second.findEntry(entry_index, entry_subindex); const auto offset = pdo_it.second.findEntry(entry_index,
entry_subindex);
if (offset != NotFound) if (offset != NotFound)
{ {
const auto domain_offset = domain->map(*sc, sync_it.first, pdo_it.first); const auto domain_offset =
domain->map(*sc, sync_it.first, pdo_it.first);
if (domain_offset != -1) if (domain_offset != -1)
{ {
if (bit_position) if (bit_position)
*bit_position = offset.bits; *bit_position = offset.bits;
else if (offset.bits) else if (offset.bits)
{ {
std::cerr << "Pdo Entry is not byte aligned but bit offset is ignored!\n"; std::cerr << "Pdo Entry is not byte aligned"
<< " but bit offset is ignored!\n";
return -1; return -1;
} }
return domain_offset + offset.bytes; return domain_offset + offset.bytes;
@ -618,7 +663,8 @@ int ecrt_slave_config_sdo16(
{ {
uint8_t buf[sizeof(value)]; uint8_t buf[sizeof(value)];
memcpy(&buf, &value, sizeof(value)); memcpy(&buf, &value, sizeof(value));
return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, buf, sizeof(buf)); return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex,
buf, sizeof(buf));
} }
int ecrt_slave_config_sdo32( int ecrt_slave_config_sdo32(
@ -630,7 +676,8 @@ int ecrt_slave_config_sdo32(
{ {
uint8_t buf[sizeof(value)]; uint8_t buf[sizeof(value)];
memcpy(&buf, &value, sizeof(value)); memcpy(&buf, &value, sizeof(value));
return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, buf, sizeof(buf)); return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex,
buf, sizeof(buf));
} }
int ecrt_slave_config_sdo( int ecrt_slave_config_sdo(
@ -641,7 +688,8 @@ int ecrt_slave_config_sdo(
size_t size /**< Size of the \a data. */ size_t size /**< Size of the \a data. */
) )
{ {
sc->sdos[sdo_address{index, subindex}] = std::basic_string<uint8_t>(data, data + size); sc->sdos[sdo_address{index, subindex}] =
std::basic_string<uint8_t>(data, data + size);
return 0; return 0;
} }
@ -649,10 +697,12 @@ void ecrt_write_lreal(void *data, double const value)
{ {
memcpy(data, &value, sizeof(value)); memcpy(data, &value, sizeof(value));
} }
void ecrt_write_real(void *data, float const value) void ecrt_write_real(void *data, float const value)
{ {
memcpy(data, &value, sizeof(value)); memcpy(data, &value, sizeof(value));
} }
float ecrt_read_real(const void *data) float ecrt_read_real(const void *data)
{ {
float ans; float ans;
@ -677,13 +727,16 @@ void ec_slave_config::dumpJson(std::ostream &out, int indent) const
out << "\"product_id\": " << product_code << ",\n"; out << "\"product_id\": " << product_code << ",\n";
add_spaces(out, indent); add_spaces(out, indent);
out << "\"sdos\": "; out << "\"sdos\": ";
map2Json(out, sdos, [](std::ostream &out, const std::basic_string<uint8_t> &value) map2Json(out, sdos,
{ [](std::ostream &out, const std::basic_string<uint8_t> &value)
out << "\"0x"; {
for (const auto s : value) { out << "\"0x";
out << std::hex << std::setfill('0') << std::setw(2) << (unsigned)s; for (const auto s : value) {
} out << std::hex << std::setfill('0')
out << '"'; }, indent); << std::setw(2) << (unsigned)s;
}
out << '"';
}, indent);
out << '\n'; out << '\n';
add_spaces(out, indent - 4); add_spaces(out, indent - 4);
out << "}"; out << "}";