diff --git a/ebpfcat/ethercat.py b/ebpfcat/ethercat.py
index 3c69e86a3cc540b26f87709d8c28fd964e0ebdd2..c02d1af81e18b68d1633916ba7fe9020cd73d984 100644
--- a/ebpfcat/ethercat.py
+++ b/ebpfcat/ethercat.py
@@ -128,8 +128,13 @@ class ObjectDescription:
def __getitem__(self, idx):
return self.entries[idx]
+ def __repr__(self):
+ return " ".join(f"[{k:X}: {v}]" for k, v in self.entries.items())
+
class ObjectEntry:
+ name = None
+
def __init__(self, desc):
self.desc = desc
@@ -155,6 +160,13 @@ class ObjectEntry:
return await self.desc.terminal.sdo_write(d, self.desc.index,
self.valueInfo)
+ def __repr__(self):
+ if self.name is None:
+ return "[unread ObjectEntry]"
+
+ return f'"{self.name}" {self.dataType}:{self.bitLength} ' \
+ f'{self.objectAccess:X}'
+
def datasize(args, data):
out = calcsize("<" + "".join(arg for arg in args if isinstance(arg, str)))
@@ -221,11 +233,11 @@ class Packet:
pos = 14 + self.DATAGRAM_HEADER
ret = []
for cmd, bits, *dgram in self.data:
- ret.append((data[pos-self.DATAGRAM_HEADER],
- data[pos:pos+len(bits)],
+ ret.append(unpack("<Bxh6x", data[pos-self.DATAGRAM_HEADER:pos])
+ + (data[pos:pos+len(bits)],
unpack("<H", data[pos+len(bits):pos+len(bits)+2])[0]))
pos += self.DATAGRAM_HEADER + self.DATAGRAM_TAIL
- return ''.join(f"{i}: {c} {f} {d}\n" for i, (c, d, f) in enumerate(ret))
+ return ''.join(f"{i}: {c} {a} {f} {d}\n" for i, (c, a, d, f) in enumerate(ret))
def full(self):
"""Is the data limit reached?"""
@@ -322,6 +334,7 @@ class EtherCat(Protocol):
out += b"\0" * data
elif data is not None:
out += data
+ assert isinstance(pos, int) and isinstance(offset, int)
self.send_queue.put_nowait((cmd, out, idx, pos, offset, future))
ret = await future
if data is None:
@@ -333,6 +346,14 @@ class EtherCat(Protocol):
else:
return ret
+ async def count(self):
+ """Count the number of terminals on the bus"""
+ p = Packet()
+ p.append(ECCmd.APRD, b"\0\0", 0, 0, 0x10)
+ ret = await self.roundtrip_packet(p)
+ no, = unpack("<h", ret[16:18]) # number of terminals
+ return no
+
def connection_made(self, transport):
"""start the send loop once the connection is made"""
transport.get_extra_info("socket").bind(self.addr)
@@ -473,7 +494,7 @@ class Terminal:
start, *args, **kwargs))
async def write(self, start, *args, **kwargs):
- """write data from the terminal at offset `start`
+ """write data to the terminal at offset `start`
see `EtherCat.roundtrip` for details on more parameters"""
return (await self.ec.roundtrip(ECCmd.FPWR, self.position,
@@ -691,55 +712,3 @@ class Terminal:
oe.name = data[8:].decode("utf8")
od.entries[i] = oe
return ret
-
-
-async def main():
- from .bpf import lookup_elem
-
- ec = EtherCat("eth0")
- await ec.connect()
- #map_fd = await install_ebpf2()
- tin = Terminal()
- tin.ec = ec
- tout = Terminal()
- tout.ec = ec
- tdigi = Terminal()
- tdigi.ec = ec
- await gather(
- tin.initialize(-4, 19),
- tout.initialize(-2, 55),
- tdigi.initialize(0, 22),
- )
- print("tin")
- #await tin.to_operational()
- await tin.set_state(2)
- print("tout")
- await tout.to_operational()
- print("reading odlist")
- odlist2, odlist = await gather(tin.read_ODlist(), tout.read_ODlist())
- #oe = odlist[0x7001][1]
- #await oe.write(1)
- for o in odlist.values():
- print(hex(o.index), o.name, o.maxSub)
- for i, p in o.entries.items():
- print(" ", i, p.name, "|", p.dataType, p.bitLength, p.objectAccess)
- #sdo = await tin.sdo_read(o.index, i)
- try:
- sdo = await p.read()
- if isinstance(sdo, int):
- t = hex(sdo)
- else:
- t = ""
- print(" ", sdo, t)
- except RuntimeError as e:
- print(" E", e)
- print("set sdo")
- oe = odlist[0x8010][7]
- print("=", await oe.read())
- await oe.write(1)
- print("=", await oe.read())
- print(tdigi.eeprom[10])
-
-if __name__ == "__main__":
- loop = get_event_loop()
- loop.run_until_complete(main())
diff --git a/ebpfcat/scripts.py b/ebpfcat/scripts.py
new file mode 100644
index 0000000000000000000000000000000000000000..7025076d7a413f2d6ff3f078c374583395382f8a
--- /dev/null
+++ b/ebpfcat/scripts.py
@@ -0,0 +1,78 @@
+from argparse import ArgumentParser
+import asyncio
+from functools import wraps
+from struct import unpack
+import sys
+
+from .ethercat import EtherCat, Terminal, ECCmd
+
+def entrypoint(func):
+ @wraps(func)
+ def wrapper():
+ asyncio.run(func())
+ return wrapper
+
+
+@entrypoint
+async def scanbus():
+ ec = EtherCat(sys.argv[1])
+ await ec.connect()
+ no = await ec.count()
+ for i in range(no):
+ r, = await ec.roundtrip(ECCmd.APRD, -i, 0x10, "H", 44)
+ print(i, r)
+
+@entrypoint
+async def info():
+ parser = ArgumentParser(
+ prog = "ec-info",
+ description = "Retrieve information from an EtherCat bus")
+
+ parser.add_argument("interface")
+ parser.add_argument("-t", "--terminal", type=int)
+ parser.add_argument("-i", "--ids", action="store_true")
+ parser.add_argument("-n", "--names", action="store_true")
+ parser.add_argument("-s", "--sdo", action="store_true")
+ parser.add_argument("-v", "--values", action="store_true")
+ args = parser.parse_args()
+
+ ec = EtherCat(args.interface)
+ await ec.connect()
+
+ if args.terminal is None:
+ terminals = range(await ec.count())
+ else:
+# print(await ec.roundtrip(ECCmd.FPRW, 7, 0x10, "H", 0))
+ terminals = [args.terminal]
+
+ terms = [Terminal() for t in terminals]
+ for t in terms:
+ t.ec = ec
+ await asyncio.gather(*(t.initialize(-i, i + 7)
+ for i, t in zip(terminals, terms)))
+
+ for i, t in enumerate(terms):
+ print(f"terminal no {i}")
+ if args.ids:
+ print(f"{t.vendorId:X}:{t.productCode:X} "
+ f"revision {t.revisionNo:X} serial {t.serialNo}")
+ if args.names:
+ infos = t.eeprom[10]
+ i = 1
+ while i < len(infos):
+ print(infos[i+1 : i+infos[i]+1].decode("ascii"))
+ i += infos[i] + 1
+
+ if args.sdo:
+ await t.to_operational()
+ ret = await t.read_ODlist()
+ 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}")
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..995d3a93148669770bc8c9e9a5789b7200803e19
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,8 @@
+[project]
+name = "ebpfcat"
+version = "0.0.1"
+dependencies = []
+
+[project.scripts]
+ec-scanbus = "ebpfcat.scripts:scanbus"
+ec-info = "ebpfcat.scripts:info"