check if packets are properly processed

until now this only prints whether the working counter
is wrong. For this to work we had to switch off all
fmmus that somebody else might have already set.

ebpfcat/ebpfcat.py

@@ -271,10 +271,12 @@ class EBPFTerminal(Terminal):
             if self.pdo_in_sz:
                 bases[SyncManager.IN] = (BaseType.FMMU_IN, packet.fmmu_in_size)
                 packet.fmmu_in_size += self.pdo_in_sz
+                packet.fmmu_in_count += 1
             if readwrite and self.pdo_out_sz:
                 bases[SyncManager.OUT] = (BaseType.FMMU_OUT,
                                           packet.fmmu_out_size)
                 packet.fmmu_out_size += self.pdo_out_sz
+                packet.fmmu_out_count += 1
         else:
             if self.pdo_in_sz:
                 bases[SyncManager.IN] = (BaseType.NO_FMMU, packet.size)
@@ -389,10 +391,16 @@ class SterilePacket(Packet):
         super().__init__()
         self.on_the_fly = []  # list of sterilized positions
         self.fmmu_out_size = self.fmmu_in_size = 0
+        self.fmmu_out_count = self.fmmu_in_count = 0
+        self.counters = {}
 
-    def append_writer(self, cmd, *args):
+    def append_writer(self, cmd, *args, **kwargs):
         self.on_the_fly.append((self.size, cmd))
+        self.append(cmd, *args, **kwargs)
+
+    def append(self, cmd, *args, counter=1):
         super().append(cmd, *args)
+        self.counters[self.size - 2] = counter
 
     def sterile(self, index):
         ret = bytearray(self.assemble(index))
@@ -405,11 +413,12 @@ class SterilePacket(Packet):
         fmmu_in_pos = self.size
         if self.fmmu_in_size:
             self.append(ECCmd.LRD, b"\0" * self.fmmu_in_size, 0,
-                        self.next_logical_addr)
+                        self.next_logical_addr, counter=self.fmmu_in_count)
         fmmu_out_pos = self.size
         if self.fmmu_out_size:
             self.append_writer(ECCmd.LWR, b"\0" * self.fmmu_out_size, 0,
-                               self.next_logical_addr + self.logical_addr_inc)
+                               self.next_logical_addr + self.logical_addr_inc,
+                               counter=self.fmmu_out_count)
         return (fmmu_in_pos, fmmu_out_pos, self.next_logical_addr,
                 self.next_logical_addr + self.logical_addr_inc)
 
@@ -417,11 +426,13 @@ class SterilePacket(Packet):
         for pos, cmd in self.on_the_fly:
             ebpf.pB[pos + self.ETHERNET_HEADER] = cmd.value
 
+
 class BaseType(Enum):
     NO_FMMU = 0
     FMMU_IN = 1
     FMMU_OUT = 2
 
+
 class SyncGroupBase:
     missed_counter = 0
 
@@ -508,6 +519,10 @@ class SyncGroup(SyncGroupBase):
 
     def update_devices(self, data):
         self.current_data = bytearray(data)
+        for pos, count in self.packet.counters.items():
+            if data[pos] != count:
+                print('count wrong!', self, pos, count, data[pos])
+            self.current_data[pos] = 0
         for dev in self.devices:
             dev.update()
         return self.current_data

ebpfcat/ethercat.py

@@ -437,7 +437,11 @@ class Terminal:
         await self.set_state(0x11)
         await self.set_state(1)
 
-        self.fmmu_used = [None] * (await self.read(4, "B"))[0]
+        fmmu_no, = await self.read(4, "B")
+        self.fmmu_used = [None] * fmmu_no
+        # switch off all fmmus
+        for i in range(fmmu_no):
+            await self.write(0x60c + 0x10 * i, "B", 0)
 
         self.mbx_cnt = 1
         self.mbx_lock = Lock()