diff --git a/ebpfcat/ebpfcat.py b/ebpfcat/ebpfcat.py
index b2be0eef6c824a208f02611c83928969d3051c5b..c3b927474d67ad34fe674b87902270aa9ac2e87c 100644
--- a/ebpfcat/ebpfcat.py
+++ b/ebpfcat/ebpfcat.py
@@ -49,11 +49,31 @@ class PacketDesc:
else:
return ret.get(device)
- def __set__(self, instance, value):
- offset = instance.position_offset[self.sm]
- ret = PacketVar(instance.terminal, self.sm, self.position + offset,
- self.size)
- return ret.set(instance.device, value)
+
+class ProcessDesc:
+ def __init__(self, index, subindex, size=None):
+ self.index = index
+ self.subindex = subindex
+ self.size = size
+
+ def __get__(self, instance, owner):
+ if instance is None:
+ return self
+ index = self.index + instance.position_offset[3]
+ if isinstance(instance, Struct):
+ terminal = instance.terminal
+ device = instance.device
+ else:
+ terminal = instance
+ device = None
+ sm, offset, size = terminal.pdos[index, self.subindex]
+ if self.size is not None:
+ size = self.size
+ ret = PacketVar(terminal, sm, offset, size)
+ if device is None:
+ return ret
+ else:
+ return ret.get(device)
class PacketVar(MemoryDesc):
@@ -218,6 +238,10 @@ class EBPFTerminal(Terminal):
raise RuntimeError(
f"Incompatible Terminal: {self.vendorId}:{self.productCode} "
f"({relative}, {absolute})")
+ await self.to_operational()
+ self.pdos = {}
+ if self.has_mailbox():
+ await self.parse_pdos()
def allocate(self, packet, readonly):
"""allocate space in packet for the pdos of this terminal
@@ -355,7 +379,6 @@ class SyncGroup(SyncGroupBase):
current_data = False # None is used to indicate FastSyncGroup
async def run(self):
- await gather(*[t.to_operational() for t in self.terminals])
self.current_data = self.asm_packet
while True:
self.ec.send_packet(self.current_data)
@@ -404,9 +427,6 @@ class FastSyncGroup(SyncGroupBase, XDP):
def start(self):
self.allocate()
self.ec.register_sync_group(self, self.packet)
- self.monitor = ensure_future(gather(*[t.to_operational()
- for t in self.terminals]))
- return self.monitor
def allocate(self):
self.packet = Packet()
diff --git a/ebpfcat/ethercat.py b/ebpfcat/ethercat.py
index a4d211d4398c98ef263b1e1a92e1b75caa48982f..6a2353b64b88e174077fa99a0b34dca31d3c02dc 100644
--- a/ebpfcat/ethercat.py
+++ b/ebpfcat/ethercat.py
@@ -30,7 +30,7 @@ from asyncio import ensure_future, Event, Future, gather, get_event_loop, Protoc
from enum import Enum
from random import randint
from socket import socket, AF_PACKET, SOCK_DGRAM
-from struct import pack, unpack, calcsize
+from struct import pack, unpack, unpack_from, calcsize
class ECCmd(Enum):
NOP = 0 # No Operation
@@ -428,22 +428,76 @@ class Terminal:
s = await self.read(0x800, data=0x80)
print(absolute, " ".join(f"{c:02x} {'|' if i % 8 == 7 else ''}" for i, c in enumerate(s)))
- def parse_pdos(self):
- def parse_pdo(s):
+ async def parse_pdos(self):
+ async def parse_eeprom(s):
i = 0
+ bitpos = 0
while i < len(s):
- idx, e, sm, u1, u2, u3 = unpack("<HBBBBH", s[i:i+8])
- print(f"idx {idx:x} sm {sm} {u1:x} {u2:x} {u3:x}")
+ idx, e, sm, u1, u2, u3 = unpack_from("<HBbBBH", s, i)
i += 8
for er in range(e):
- bitsize, = unpack("<5xB2x", s[i:i+8])
- print(" bs", bitsize, s[i:i+8])
+ idx, subidx, k1, k2, bits, = unpack("<HBBBB2x", s[i:i+8])
+ if sm > 0:
+ yield idx, subidx, sm, bits
i += 8
- if 50 in self.eeprom:
- parse_pdo(self.eeprom[50])
- if 51 in self.eeprom:
- parse_pdo(self.eeprom[51])
+ async def parse_sdo(index, sm):
+ assignment = await self.sdo_read(index)
+ bitpos = 0
+ for i in range(0, len(assignment), 2):
+ pdo, = unpack_from("<H", assignment, i)
+ if pdo == 0:
+ continue
+ count, = unpack("B", await self.sdo_read(pdo, 0))
+ for j in range(1, count + 1):
+ bits, subidx, idx = unpack("<BBH", await self.sdo_read(pdo, j))
+ yield idx, subidx, sm, bits
+
+ async def parse(func):
+ bitpos = 0
+ async for idx, subidx, sm, bits in func:
+ #print("k", idx, subidx, sm, bits)
+ if idx == 0:
+ pass
+ elif bits < 8:
+ self.pdos[idx, subidx] = (sm, bitpos // 8, bitpos % 8)
+ elif (bits % 8) or (bitpos % 8):
+ raise RuntimeError("PDOs must be byte-aligned")
+ else:
+ self.pdos[idx, subidx] = \
+ (sm, bitpos // 8,
+ {8: "B", 16: "H", 32: "I", 64: "Q"}[bits])
+ bitpos += bits
+
+ self.pdos = {}
+ if self.has_mailbox():
+ await parse(parse_sdo(0x1c12, 2))
+ await parse(parse_sdo(0x1c13, 3))
+ else:
+ if 50 in self.eeprom:
+ await parse(parse_eeprom(self.eeprom[50]))
+ if 51 in self.eeprom:
+ await parse(parse_eeprom(self.eeprom[51]))
+
+ async def parse_pdo(self, index, sm):
+ assignment = await self.sdo_read(index)
+ bitpos = 0
+ for i in range(0, len(assignment), 2):
+ pdo, = unpack_from("<H", assignment, i)
+ count, = unpack("B", await self.sdo_read(pdo, 0))
+ for j in range(1, count + 1):
+ bits, subidx, idx = unpack("<BBH", await self.sdo_read(pdo, j))
+ if idx == 0:
+ pass
+ elif bits < 8:
+ self.pdos[idx, subidx] = (sm, bitpos // 8, bitpos % 8)
+ elif (bits % 8) or (bitpos % 8):
+ raise RuntimeError("PDOs must be byte-aligned")
+ else:
+ self.pdos[idx, subidx] = \
+ (sm, bitpos // 8,
+ {8: "B", 16: "H", 32: "I", 64: "Q"}[bits])
+ bitpos += bits
async def set_state(self, state):
"""try to set the state, and return the new state"""
@@ -592,6 +646,8 @@ class Terminal:
raise RuntimeError(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(
f"expected CoE SDORES (3), got {coecmd>>12:x} "
f"for {index:X}:{9 if subindex is None else subindex:02X}")
diff --git a/ebpfcat/scripts.py b/ebpfcat/scripts.py
index 5b0ee2cbaa6afb831ae41cc459c074197a949a27..887bcbe0ad37beaec48cf618ac14f66f1286a771 100644
--- a/ebpfcat/scripts.py
+++ b/ebpfcat/scripts.py
@@ -80,4 +80,7 @@ async def info():
else:
print(f" {r}")
if args.pdo:
- t.parse_pdos()
+ await t.to_operational()
+ await t.parse_pdos()
+ for (idx, subidx), (sm, pos, fmt) in t.pdos.items():
+ print(f"{idx:4X}:{subidx:02X} {sm} {pos} {fmt}")
diff --git a/ebpfcat/terminals.py b/ebpfcat/terminals.py
index 331a15f786ac7963b1f50b9839394c41308b3057..085138cde094c48ef96487d6ca7e836b747d6602 100644
--- a/ebpfcat/terminals.py
+++ b/ebpfcat/terminals.py
@@ -15,7 +15,7 @@
# with this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
-from .ebpfcat import EBPFTerminal, PacketDesc, Struct
+from .ebpfcat import EBPFTerminal, PacketDesc, ProcessDesc, Struct
class Generic(EBPFTerminal):
@@ -54,21 +54,21 @@ class EL2808(EBPFTerminal):
class EL4104(EBPFTerminal):
- ch1_value = PacketDesc(2, 0, 'H')
- ch2_value = PacketDesc(2, 2, 'H')
- ch3_value = PacketDesc(2, 4, 'H')
- ch4_value = PacketDesc(2, 6, 'H')
+ ch1_value = ProcessDesc(0x7000, 1)
+ ch2_value = ProcessDesc(0x7010, 1)
+ ch3_value = ProcessDesc(0x7020, 1)
+ ch4_value = ProcessDesc(0x7030, 1)
class EL3164(EBPFTerminal):
class Channel(Struct):
- attrs = PacketDesc(3, 0, 'H')
- value = PacketDesc(3, 2, 'H')
+ attrs = ProcessDesc(0x6000, 1, 'H')
+ value = ProcessDesc(0x6000, 0x11)
channel1 = Channel(0)
- channel2 = Channel(4)
- channel3 = Channel(8)
- channel4 = Channel(12)
+ channel2 = Channel(0x10)
+ channel3 = Channel(0x20)
+ channel4 = Channel(0x30)
class EK1101(EBPFTerminal):