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Commit f236798a authored by Martin Teichmann's avatar Martin Teichmann
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improve error handling 

don't use RuntimeError, define an EtherCatError instead
parent ab5a0b7b
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ebpfcat/ethercat.py
+ 26
− 22
View file @ f236798a
......@@ -33,6 +33,10 @@ from random import randint
from socket import socket, AF_PACKET, SOCK_DGRAM
from struct import pack, unpack, unpack_from, calcsize
class EtherCatError(Exception):
pass
class ECCmd(Enum):
NOP = 0 # No Operation
APRD = 1 # Auto Increment Read
......@@ -285,7 +289,7 @@ class EtherCat(Protocol):
wkc, = unpack("<H", data[stop:stop+2])
if wkc == 0:
future.set_exception(
RuntimeError("datagram was not processed"))
EtherCatError("datagram was not processed"))
else:
future.set_result(data[start:stop])
dgrams = []
......@@ -367,7 +371,7 @@ class EtherCat(Protocol):
for i in count(no):
try:
await self.roundtrip(ECCmd.FPRD, i, 0x10, "H", 0)
except RuntimeError:
except EtherCatError:
return i # this address is not in use
def connection_made(self, transport):
......@@ -548,7 +552,7 @@ class Terminal:
s, error = await self.ec.roundtrip(ECCmd.FPRD, self.position,
0x0130, "H2xH")
if error != 0:
raise RuntimeError(f"AL register {error}")
raise EtherCatError(f"AL register {error}")
async def get_error(self):
"""read the error register"""
......@@ -620,7 +624,7 @@ class Terminal:
"""send data to the mailbox"""
status, = await self.read(0x805, "B") # always using mailbox 0, OK?
if status & 8:
raise RuntimeError("mailbox full, read first")
raise EtherCatError("mailbox full, read first")
assert self.mbx_out_off is not None, "not send mailbox defined"
await self.write(self.mbx_out_off, "HHBB",
datasize(args, data),
......@@ -653,10 +657,10 @@ class Terminal:
while fragments:
type, data = await self.mbx_recv()
if type is not MBXType.COE:
raise RuntimeError(f"expected CoE package, got {type}")
raise EtherCatError(f"expected CoE package, got {type}")
coecmd, rodcmd, fragments = unpack("<HBxH", data[:6])
if rodcmd & 0x7f != odcmd.value + 1:
raise RuntimeError(f"expected {odcmd.value}, got {odcmd}")
raise EtherCatError(f"expected {odcmd.value}, got {odcmd}")
ret.append(data[offset:])
offset = 6
return b"".join(ret)
......@@ -670,16 +674,16 @@ class Terminal:
index, 1 if subindex is None else subindex)
type, data = await self.mbx_recv()
if type is not MBXType.COE:
raise RuntimeError(f"expected CoE, got {type}")
raise EtherCatError(f"expected CoE, got {type}")
coecmd, sdocmd, idx, subidx, size = unpack("<HBHBI", data[:10])
if coecmd >> 12 != CoECmd.SDORES.value:
if subindex is None and coecmd >> 12 == CoECmd.SDOREQ.value:
return b"" # if there is no data, the terminal fails
raise RuntimeError(
raise EtherCatError(
f"expected CoE SDORES (3), got {coecmd>>12:x} "
f"for {index:X}:{9 if subindex is None else subindex:02X}")
if idx != index:
raise RuntimeError(f"requested index {index}, got {idx}")
raise EtherCatError(f"requested index {index}, got {idx}")
if sdocmd & 2:
return data[6 : 10 - ((sdocmd>>2) & 3)]
ret = [data[10:]]
......@@ -693,13 +697,13 @@ class Terminal:
1 if subindex is None else subindex)
type, data = await self.mbx_recv()
if type is not MBXType.COE:
raise RuntimeError(f"expected CoE, got {type}")
raise EtherCatError(f"expected CoE, got {type}")
coecmd, sdocmd = unpack("<HB", data[:3])
if coecmd >> 12 != CoECmd.SDORES.value:
raise RuntimeError(
raise EtherCatError(
f"expected CoE cmd SDORES, got {coecmd}")
if sdocmd & 0xe0 != 0:
raise RuntimeError(f"requested index {index}, got {idx}")
raise EtherCatError(f"requested index {index}, got {idx}")
if sdocmd & 1 and len(data) == 7:
data = data[:3 + (sdocmd >> 1) & 7]
ret += data[3:]
......@@ -708,7 +712,7 @@ class Terminal:
break
toggle ^= 0x10
if retsize != size:
raise RuntimeError(f"expected {size} bytes, got {retsize}")
raise EtherCatError(f"expected {size} bytes, got {retsize}")
return b"".join(ret)
async def sdo_write(self, data, index, subindex=None):
......@@ -720,12 +724,12 @@ class Terminal:
index, subindex, data)
type, data = await self.mbx_recv()
if type is not MBXType.COE:
raise RuntimeError(f"expected CoE, got {type}, {data} {odata} {index:x} {subindex}")
raise EtherCatError(f"expected CoE, got {type}, {data} {odata} {index:x} {subindex}")
coecmd, sdocmd, idx, subidx = unpack("<HBHB", data[:6])
if idx != index or subindex != subidx:
raise RuntimeError(f"requested index {index}, got {idx}")
raise EtherCatError(f"requested index {index}, got {idx}")
if coecmd >> 12 != CoECmd.SDORES.value:
raise RuntimeError(f"expected CoE SDORES, got {coecmd>>12:x}")
raise EtherCatError(f"expected CoE SDORES, got {coecmd>>12:x}")
else:
async with self.mbx_lock:
stop = min(len(data), self.mbx_out_sz - 16)
......@@ -737,12 +741,12 @@ class Terminal:
data=data[:stop])
type, data = await self.mbx_recv()
if type is not MBXType.COE:
raise RuntimeError(f"expected CoE, got {type}")
raise EtherCatError(f"expected CoE, got {type}")
coecmd, sdocmd, idx, subidx = unpack("<HBHB", data[:6])
if coecmd >> 12 != CoECmd.SDORES.value:
raise RuntimeError(f"expected CoE SDORES, got {coecmd>>12:x}")
raise EtherCatError(f"expected CoE SDORES, got {coecmd>>12:x}")
if idx != index or subindex != subidx:
raise RuntimeError(f"requested index {index}, got {idx}")
raise EtherCatError(f"requested index {index}, got {idx}")
toggle = 0
while stop < len(data):
start = stop
......@@ -760,12 +764,12 @@ class Terminal:
1 if subindex is None else subindex, data=d)
type, data = await self.mbx_recv()
if type is not MBXType.COE:
raise RuntimeError(f"expected CoE, got {type}")
raise EtherCatError(f"expected CoE, got {type}")
coecmd, sdocmd, idx, subidx = unpack("<HBHB", data[:6])
if coecmd >> 12 != CoECmd.SDORES.value:
raise RuntimeError(f"expected CoE SDORES")
raise EtherCatError(f"expected CoE SDORES")
if idx != index or subindex != subidx:
raise RuntimeError(f"requested index {index}")
raise EtherCatError(f"requested index {index}")
toggle ^= 0x10
async def read_ODlist(self):
......
ebpfcat/scripts.py
+ 13
− 9
View file @ f236798a
......@@ -6,7 +6,7 @@ from pprint import PrettyPrinter
from struct import unpack
import sys
from .ethercat import EtherCat, Terminal, ECCmd
from .ethercat import EtherCat, Terminal, ECCmd, EtherCatError
def entrypoint(func):
@wraps(func)
......@@ -74,13 +74,17 @@ async def info():
for k, v in ret.items():
print(f"{k:X}:")
for kk, vv in v.entries.items():
print(f" {kk:X}: {vv}")
if args.values:
r = await vv.read()
if isinstance(r, int):
print(f" {r:10} {r:8X}")
else:
print(f" {r}")
print(f" {kk:X}: {vv}")
if args.values:
try:
r = await vv.read()
except EtherCatError as e:
print(f" Error {e.args[0]}")
else:
if isinstance(r, int):
print(f" {r:10} {r:8X}")
else:
print(f" {r}")
if args.pdo:
await t.to_operational()
await t.parse_pdos()
......@@ -162,7 +166,7 @@ async def create_test():
for kk, vv in v.entries.items():
try:
ret = await t.sdo_read(v.index, vv.valueInfo)
except RuntimeError:
except EtherCatError:
pass
sdo[v.index, vv.valueInfo] = ret
......
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