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ethercat
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Merge branch 'fake_without_domain' into 'stable-1.6' 

Remove domain information from  RtIPC path.

See merge request etherlab.org/ethercat!149
This commit is contained in:
Florian Pose 2025-02-06 08:27:18 +00:00
parent d15936b8b5 c117849d02
commit 5b3663e15b
2 changed files with 28 additions and 69 deletions
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61
fake_lib/README.md
View File

@ -1,16 +1,16 @@
FakeEtherCAT Library {#libfakeethercat}
====================
Libfakeethercat is a userspace library which has the same API as
the EtherCAT master interface library libethercat.
Libfakeethercat can be used to spin up your RT application in a dry-run mode,
without any master configured or slaves attached.
Furthermore, it is possible to emulate EtherCAT slaves on process data level
by running two applications back to back.
Libfakeethercat is a userspace library which has the same API as the EtherCAT
master interface library libethercat. Libfakeethercat can be used to spin up
your RT application in a dry-run mode, without any master configured or slaves
attached. Furthermore, it is possible to emulate EtherCAT slaves on process
data level by running two applications back to back.
## Supported features
Currently, only a very limited subset of libethercat functionality is supported:
Currently, only a very limited subset of libethercat functionality is
supported:
- Creating master and domain instances
- Activating master, `send`/`receive`.
@ -18,26 +18,24 @@ Currently, only a very limited subset of libethercat functionality is supported:
- Configuring PDOs
- Configuring SDOs using `ecrt_slave_config_sdo*`
The SDO config does not do anything,
but when activating the master the SDO config will
be dumped into a JSON file.
The SDO config does not do anything, but when activating the master the SDO
config will be dumped into a JSON file.
ecrt_master_state() and ecrt_domain_state() both return states as if
the bus works without errors.
So currenty, a bus error cannot be simulated.
`ecrt_master_state()` and `ecrt_domain_state()` both return states as if the
bus works without errors. So currently, a bus error cannot be simulated.
## How to build
[RtIPC](https://gitlab.com/etherlab.org/rtipc) is needed.
Simply pass `--enable-fakeuserlib` to your `./configure` call
and the library will be built for you.
[RtIPC](https://gitlab.com/etherlab.org/rtipc) is needed. Simply pass
`--enable-fakeuserlib` to your `./configure` call and the library will be
built for you.
## How to set up dry run mode
### Redirect library loading
To avoid recompiling your application,
we will use `LD_LIBRARY_PATH` to load `libfakeethercat` instead of `libethercat`.
To avoid recompiling your application, we will use `LD_LIBRARY_PATH` to load
`libfakeethercat` instead of `libethercat`.
```sh
# pick a location for an empty directory
@ -52,16 +50,15 @@ ln -s /usr/lib64/libfakeethercat.so.1 $MY_LIB_LOCATION/libethercat.so.1
export LD_LIBRARY_PATH=$MY_LIB_LOCATION
# check whether everything is done right
ldd my_application | grep ethercat
libethercat.so.1 => /home/vh/fake_lib64/libethercat.so.1 (0x00007fa5a5c59000)
libethercat.so.1 => /home/vh/fake_lib64/libethercat.so.1 (0x7fa5c590)
```
### Set up FakeEtherCAT Home
RtIPC needs a place to store its configuration.
Set `FAKE_EC_HOMEDIR` environment variabe to a path to an empty directory,
for instance `/tmp/FakeEtherCAT`.
`FAKE_EC_NAME` can be set to a useful name of your application,
default is `FakeEtherCAT`.
RtIPC needs a place to store its configuration. Set `FAKE_EC_HOMEDIR`
environment variable to a path to an empty directory, for instance
`/tmp/FakeEtherCAT`. `FAKE_EC_NAME` can be set to a useful name of your
application, default is `FakeEtherCAT`.
```sh
export FAKE_EC_HOMEDIR=/tmp/FakeEtherCAT
@ -113,13 +110,9 @@ Then, in another shell, do the same thing with your simulator,
but do not remove the `FAKE_EC_HOMEDIR` directory and
pick another `FAKE_EC_NAME`.
Carefully watch the PDO configuration on stderr and compare them.
All paths configured as Output on the control application have to
be configured as Input on your simulator and vice versa.
If you use multiple domains and there is a mismatch of the domain IDs,
set `FAKE_EC_DOMAIN_PERMUTATION` to a space-separated list of integers to
permutate the domain IDs of one application.
`FAKE_EC_DOMAIN_PERMUTATION="0 1"` swaps domains 0 and 1, for instance.
Carefully watch the PDO configuration on stderr and compare them. All paths
configured as output on the control application have to be configured as input
on your simulator and vice versa.
Finally, your control application needs to be restarted
so it can find the RtIPC variables which contains the process data of the
@ -127,7 +120,7 @@ simulator.
## Environment variables
- FAKE_EC_DOMAIN_PERMUTATION: Permutate the domain IDs, useful to match control and simulation applications.
- FAKE_EC_HOMEDIR: Directory for RtIPC builletin board and SDO json files
- FAKE_EC_HOMEDIR: Directory for RtIPC bulletin board and SDO json files
- FAKE_EC_NAME: Will be used for naming RtIPC config and SDO json file
- FAKE_EC_PREFIX: Prefix for RtIPC variables, useful to run multiple simulators side by side.
- FAKE_EC_PREFIX: Prefix for RtIPC variables, useful to run multiple
simulators side by side.

36
fake_lib/fakeethercat.cpp
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@ -31,8 +31,6 @@
#include <iterator>
#include <ios>
static std::vector<size_t> getPermutationVector(size_t count);
static std::ostream &operator<<(std::ostream &os, const sdo_address &a)
{
os << std::setfill('0') << std::hex << std::setw(6) << a.getCombined();
@ -118,7 +116,7 @@ int ec_domain::activate(int domain_id)
slaves.insert(pdo.slave_address.getCombined());
void *rt_pdo = nullptr;
char buf[512];
const auto fmt = snprintf(buf, sizeof(buf), "%s/%d/%d/%08X/%04X", prefix, master->getId(), domain_id, 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))
{
return -ENOBUFS;
@ -213,14 +211,6 @@ int ecrt_domain_state(
int ec_master::activate()
{
const auto permutate = getPermutationVector(domains.size());
int i = 0;
for (auto &domain : domains)
{
if (domain.activate(permutate[i]))
return -1;
++i;
}
{
std::ofstream out(rt_ipc_dir + "/" + rt_ipc_name + "_slaves.json");
if (!out.is_open())
@ -433,30 +423,6 @@ static const char *getRtIpcDir()
return "/tmp/FakeEtherCAT";
}
static std::vector<size_t> getPermutationVector(size_t count)
{
std::vector<size_t> ans;
for (size_t i = 0; i < count; ++i)
{
ans.push_back(i);
}
const auto spec = getenv("FAKE_EC_DOMAIN_PERMUTATION");
if (!spec)
return ans;
std::istringstream is(spec);
std::istream_iterator<int> begin(is), end;
std::vector<int> values(begin, end);
if (values.size() % 2)
{
throw std::invalid_argument("Specify an even number of indices to permutate.\n");
}
for (size_t i = 0; i < values.size() / 2; ++i)
{
std::swap(ans.at(values[2 * i]), ans.at(values[2 * i + 1]));
}
return ans;
}
ec_master::ec_master(int id) : rt_ipc_dir(getRtIpcDir()), rt_ipc_name(getName()), rt_ipc(rtipc_create(rt_ipc_name.c_str(), rt_ipc_dir.c_str())), id_(id)
{
}