From 3b19e83780fc293037d17dffa09ea008cdc4c1a9 Mon Sep 17 00:00:00 2001
From: Martin Teichmann <martin.teichmann@xfel.eu>
Date: Tue, 14 Feb 2023 17:27:27 +0100
Subject: [PATCH] put terminal into operational later
the Leybold TurboVac does not like to be put into operational unless
it is already getting PDO data. This actually seems like a good idea.
---
ebpfcat/ebpfcat.py | 12 +++++++++---
ebpfcat/ethercat_test.py | 8 ++++----
2 files changed, 13 insertions(+), 7 deletions(-)
diff --git a/ebpfcat/ebpfcat.py b/ebpfcat/ebpfcat.py
index 7372199..e9f182a 100644
--- a/ebpfcat/ebpfcat.py
+++ b/ebpfcat/ebpfcat.py
@@ -16,7 +16,7 @@
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
"""The high-level API for EtherCAT loops"""
-from asyncio import ensure_future, gather, wait_for, TimeoutError
+from asyncio import ensure_future, gather, sleep, wait_for, TimeoutError
from contextlib import asynccontextmanager, contextmanager
import os
from struct import pack, unpack, calcsize, pack_into, unpack_from
@@ -222,7 +222,7 @@ class EBPFTerminal(Terminal):
raise RuntimeError(
f"Incompatible Terminal: {self.vendorId}:{self.productCode} "
f"({relative}, {absolute})")
- await self.to_operational()
+ await self.to_operational(4)
self.pdos = {}
if self.has_mailbox():
await self.parse_pdos()
@@ -363,6 +363,9 @@ class SyncGroupBase:
self.terminals = {t: None for t in
sorted(terminals, key=lambda t: t.position)}
+ async def to_operational(self):
+ await gather(*[t.to_operational() for t in self.terminals])
+
async def run(self):
data = self.asm_packet
while True:
@@ -393,7 +396,9 @@ class SyncGroup(SyncGroupBase):
self.packet_index = SyncGroup.packet_index
SyncGroup.packet_index += 1
self.asm_packet = self.packet.assemble(self.packet_index)
- return ensure_future(self.run())
+ ret = ensure_future(self.run())
+ ensure_future(self.to_operational())
+ return ret
def allocate(self):
self.packet = Packet()
@@ -443,6 +448,7 @@ class FastSyncGroup(SyncGroupBase, XDP):
def start(self):
self.allocate()
self.task = ensure_future(self.run())
+ ensure_future(self.to_operational())
return self.task
def cancel(self):
diff --git a/ebpfcat/ethercat_test.py b/ebpfcat/ethercat_test.py
index e6b93b4..60b6a76 100644
--- a/ebpfcat/ethercat_test.py
+++ b/ebpfcat/ethercat_test.py
@@ -64,17 +64,17 @@ class MockEtherCat:
class MockTerminal(Terminal):
async def initialize(self, relative, absolute):
self.position = absolute
- self.operational = False
+ self.operational = 1
data = self.ec.test_data[-relative]
self.test_eeprom = data["eeprom"]
self.test_sdo = data["sdo"]
await self.apply_eeprom()
- async def to_operational(self):
- self.operational = True
+ async def to_operational(self, state):
+ self.operational = state
async def sdo_read(self, index, subindex=None):
- assert self.operational
+ assert self.operational >= 2
if subindex is None:
r = b''
for i in count(1):
--
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