diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 8c0d36baf3605502a32dcc9f2735ee1513b0bc95..2348a1e3cc7fc3db70841344bd6b0f308d4d8c05 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,7 +1,7 @@
test:
image: python:3.8-slim
script:
- - python3 -m ebpfcat.ebpf_test -v Tests
+ - python3 -m ebpfcat.ebpf_test -v Tests && python3 -m ebpfcat.ethercat_test -v
docs:
image: tk0miya/sphinx-html
diff --git a/ebpfcat/ebpfcat.py b/ebpfcat/ebpfcat.py
index c286387a7ffe394ecb89de051207387230c29d25..a9690f33ab380d3c939da7c1ec622ed9d8300cbd 100644
--- a/ebpfcat/ebpfcat.py
+++ b/ebpfcat/ebpfcat.py
@@ -229,11 +229,10 @@ class SyncGroup:
self.packet = Packet()
for term in self.terminals:
term.allocate(self.packet)
- print(self.packet)
self.packet_index = SyncGroup.packet_index
SyncGroup.packet_index += 1
self.asm_packet = self.packet.assemble(self.packet_index)
- ensure_future(self.run())
+ return ensure_future(self.run())
class FastSyncGroup(XDP):
diff --git a/ebpfcat/ethercat.py b/ebpfcat/ethercat.py
index 6049e8431c2dd0a34927ec0e1143208823a6f114..fa6edbfbd5d3e403ade068e00c5f2c227892dc4a 100644
--- a/ebpfcat/ethercat.py
+++ b/ebpfcat/ethercat.py
@@ -398,13 +398,12 @@ class Terminal:
0x0130, "H2xH")
pos = order.index(ret)
s = 0x11
- for state in order[pos:]:
+ for state in order[pos+1:]:
await self.ec.roundtrip(ECCmd.FPWR, self.position,
0x0120, "H", state)
while s != state:
s, error = await self.ec.roundtrip(ECCmd.FPRD, self.position,
0x0130, "H2xH")
- print('State', self.position, s, error)
if error != 0:
raise RuntimeError(f"AL register {error}")
diff --git a/ebpfcat/ethercat_test.py b/ebpfcat/ethercat_test.py
new file mode 100644
index 0000000000000000000000000000000000000000..a6502152e05ccbb9e211ad4e4bd0a28409284f9a
--- /dev/null
+++ b/ebpfcat/ethercat_test.py
@@ -0,0 +1,125 @@
+from asyncio import CancelledError, Future, get_event_loop, sleep, gather
+from unittest import TestCase, main
+
+from .devices import AnalogInput, AnalogOutput
+from .terminals import EL4104, EL3164
+from .ethercat import ECCmd
+from .ebpfcat import SyncGroup
+
+
+class MockEtherCat:
+ def __init__(self, test):
+ self.test = test
+
+ async def roundtrip(self, *args):
+ self.test.assertEqual(args, self.expected.pop(0))
+ return self.results.pop(0)
+
+ def send_packet(self, data):
+ self.test.assertEqual(data, self.expected.pop(0), data.hex())
+
+ async def receive_index(self, index):
+ self.test.assertEqual(index, self.expected.pop(0))
+ if not self.expected:
+ self.test.future.cancel()
+ for i in range(10):
+ await sleep(0)
+ return self.results.pop(0)
+
+
+class Tests(TestCase):
+ def test_input(self):
+ ti = EL3164()
+ ti.pdo_in_sz = 4
+ ti.pdo_in_off = 0xABCD
+ ti.position = 0x77
+ ti.pdo_out_sz = 3
+ ti.pdo_out_off = 0x4321
+ ec = MockEtherCat(self)
+ ti.ec = ec
+ ai = AnalogInput(ti.ch1_value)
+ SyncGroup.packet_index = 1000
+ sg = SyncGroup(ec, [ai])
+ self.task = sg.start()
+ ec.expected = [
+ (ECCmd.FPRD, 0x77, 304, "H2xH"), # get state
+ bytes.fromhex("2d10" # EtherCAT Header, length & type
+ "0000e8030000008000000000" # ID datagram
+ "04007700cdab04800000000000000000" # in datagram
+ "050077002143030000000000000000"), # out datagram
+ 1000, # == 0x3e8, see ID datagram
+ bytes.fromhex("2d10" # EtherCAT Header, length & type
+ "0000e8030000008000000000" # ID datagram
+ "04007700cdab04800000123456780000" # in datagram
+ "050077002143030000000000000000"), # out datagram
+ 1000,
+ ]
+ ec.results = [
+ (8, 0), # return state 8, no error
+ bytes.fromhex("2d10" # EtherCAT Header, length & type
+ "0000e8030000008000000000" # ID datagram
+ "04007700cdab04800000123456780000" # in datagram
+ "050077002143030000000000000000"), # out datagram
+ ]
+ self.future = Future()
+ with self.assertRaises(CancelledError):
+ get_event_loop().run_until_complete(
+ gather(self.future, self.task))
+ self.assertEqual(ai.value, 0x7856)
+ self.task.cancel()
+ with self.assertRaises(CancelledError):
+ get_event_loop().run_until_complete(self.task)
+
+ def test_output(self):
+ ti = EL4104()
+ ti.pdo_in_sz = 4
+ ti.pdo_in_off = 0xABCD
+ ti.position = 0x77
+ ti.pdo_out_sz = 3
+ ti.pdo_out_off = 0x4321
+ ec = MockEtherCat(self)
+ ti.ec = ec
+ ao = AnalogOutput(ti.ch1_value)
+ SyncGroup.packet_index = 1000
+ sg = SyncGroup(ec, [ao])
+ self.task = sg.start()
+ ec.expected = [
+ (ECCmd.FPRD, 0x77, 304, "H2xH"), # get state
+ bytes.fromhex("2d10" # EtherCAT Header, length & type
+ "0000e8030000008000000000" # ID datagram
+ "04007700cdab04800000000000000000" # in datagram
+ "050077002143030000000000000000"), # out datagram
+ 1000, # == 0x3e8, see ID datagram
+ ]
+ ec.results = [
+ (8, 0), # return state 8, no error
+ ]
+ self.future = Future()
+ ao.value = 0x9876
+ with self.assertRaises(CancelledError):
+ get_event_loop().run_until_complete(
+ gather(self.future, self.task))
+ ec.expected = [
+ bytes.fromhex("2d10" # EtherCAT Header, length & type
+ "0000e8030000008000000000" # ID datagram
+ "04007700cdab04800000123456780000" # in datagram
+ "050077002143030000007698000000"), # out datagram
+ 1000,
+ ]
+ ec.results = [
+ bytes.fromhex("2d10" # EtherCAT Header, length & type
+ "0000e8030000008000000000" # ID datagram
+ "04007700cdab04800000123456780000" # in datagram
+ "050077002143030000007698000000"), # out datagram
+ ]
+ self.future = Future()
+ with self.assertRaises(CancelledError):
+ get_event_loop().run_until_complete(
+ gather(self.future, self.task))
+ self.task.cancel()
+ with self.assertRaises(CancelledError):
+ get_event_loop().run_until_complete(self.task)
+
+
+if __name__ == "__main__":
+ main()