From b44c40ca30c8078cf9639461d62b9943fd92c854 Mon Sep 17 00:00:00 2001
From: Martin Teichmann <martin.teichmann@xfel.eu>
Date: Tue, 9 Apr 2024 16:09:39 +0000
Subject: [PATCH] support SDOs in terminals
---
ebpfcat/ebpfcat.py | 34 +------------------------
ebpfcat/ethercat.py | 60 ++++++++++++++++++++++++++++++++++++++++++++
ebpfcat/terminals.py | 18 +++++++++++--
3 files changed, 77 insertions(+), 35 deletions(-)
diff --git a/ebpfcat/ebpfcat.py b/ebpfcat/ebpfcat.py
index 30291c4..c3ddf2d 100644
--- a/ebpfcat/ebpfcat.py
+++ b/ebpfcat/ebpfcat.py
@@ -28,7 +28,7 @@ from time import time
from .arraymap import ArrayMap, ArrayGlobalVarDesc
from .ethercat import (
ECCmd, EtherCat, MachineState, Packet, Terminal, EtherCatError,
- SyncManager)
+ Struct, SyncManager)
from .ebpf import FuncId, MemoryDesc, SubProgram, prandom
from .xdp import XDP, XDPExitCode, PacketVar as XDPPacketVar
from .bpf import (
@@ -146,38 +146,6 @@ class PacketVar(MemoryDesc):
self._start(device) + Packet.ETHERNET_HEADER)
-class Struct:
- """Define repetitive structures in a PDO
-
- Some terminals, especially multi-channel terminals,
- have repetitive structures in their PDO. Inherit from this
- class to create a structure for them. Each instance
- will then define one channel. It takes one parameter, which
- is the offset in the CoE address space from the template
- structure to the one of the channel.
- """
- device = None
-
- def __new__(cls, *args):
- return StructDesc(cls, *args)
-
-
-class StructDesc:
- def __init__(self, struct, sm3=0, sm2=None):
- self.struct = struct
- if sm2 is None:
- sm2 = sm3
- self.position_offset = {SyncManager.OUT: sm2, SyncManager.IN: sm3}
-
- def __get__(self, instance, owner):
- if instance is None:
- return self
- ret = object.__new__(self.struct)
- ret.position_offset = self.position_offset
- ret.terminal = instance
- return ret
-
-
class TerminalVar:
def __set__(self, instance, value):
if isinstance(value, PacketVar):
diff --git a/ebpfcat/ethercat.py b/ebpfcat/ethercat.py
index 3f68be5..30eef3f 100644
--- a/ebpfcat/ethercat.py
+++ b/ebpfcat/ethercat.py
@@ -477,6 +477,50 @@ class EtherCat(Protocol):
self.wait_futures[index].set_result(data)
+class ServiceDesc:
+ def __init__(self, index, subidx):
+ self.index = index
+ self.subidx = subidx
+
+
+class Struct:
+ """Define repetitive structures in CoE objects
+
+ Some terminals, especially multi-channel terminals,
+ have repetitive structures in their CoE. Inherit from this
+ class to create a structure for them. Each instance
+ will then define one channel. It takes one parameter, which
+ is the offset in the CoE address space from the template
+ structure to the one of the channel.
+ """
+ device = None
+
+ def __new__(cls, *args):
+ return StructDesc(cls, *args)
+
+
+class StructDesc:
+ def __init__(self, struct, sm3=0, sm2=None):
+ self.struct = struct
+ if sm2 is None:
+ sm2 = sm3
+ self.position_offset = {SyncManager.OUT: sm2, SyncManager.IN: sm3}
+
+ def __get__(self, instance, owner):
+ if instance is None:
+ return self
+ if (ret := instance.__dict__.get(self.name)) is not None:
+ return ret
+ ret = object.__new__(self.struct)
+ ret.position_offset = self.position_offset
+ ret.terminal = instance
+ instance.__dict__[self.name] = ret
+ return ret
+
+ def __set_name__(self, owner, name):
+ self.name = name
+
+
class Terminal:
"""Represent one terminal (*SubDevice* or *slave*) in the loop"""
def __init__(self, ethercat):
@@ -625,6 +669,22 @@ class Terminal:
await parse(parse_eeprom(self.eeprom[50]), SyncManager.IN)
if 50 in self.eeprom else 0)
+ async def parse_sdos(self):
+ sdos = {}
+ for cls in self.__class__.__mro__:
+ for k, v in cls.__dict__.items():
+ if isinstance(v, ServiceDesc):
+ setattr(self, k,
+ await self.read_object_entry(v.index, v.subidx))
+ elif isinstance(v, StructDesc):
+ struct = getattr(self, k)
+ offset = struct.position_offset[SyncManager.IN]
+ for kk, vv in struct.__class__.__dict__.items():
+ if isinstance(vv, ServiceDesc):
+ setattr(struct, kk,
+ await self.read_object_entry(
+ vv.index + offset, vv.subidx))
+
async def set_state(self, state):
"""try to set the state, and return the new state"""
await self.ec.roundtrip(ECCmd.FPWR, self.position, 0x0120, "H", state)
diff --git a/ebpfcat/terminals.py b/ebpfcat/terminals.py
index d57464a..791ccb6 100644
--- a/ebpfcat/terminals.py
+++ b/ebpfcat/terminals.py
@@ -15,7 +15,8 @@
# 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, ProcessDesc, Struct
+from .ethercat import ServiceDesc, Struct
+from .ebpfcat import EBPFTerminal, PacketDesc, ProcessDesc
class Generic(EBPFTerminal):
@@ -136,10 +137,16 @@ class EL5042(EBPFTerminal):
status = ProcessDesc(0x6000, 1, "H")
invalid = ProcessDesc(0x6000, 0xE)
+ statusbits = ServiceDesc(0x8008, 2)
+ crc_invert = ServiceDesc(0x8008, 3)
+ multiturn = ServiceDesc(0x8008, 0x15)
+ singleturn = ServiceDesc(0x8008, 0x16)
+ frequency = ServiceDesc(0x8008, 0x13)
+ polynomial = ServiceDesc(0x8008, 0x11)
+
channel1 = Channel(0)
channel2 = Channel(0x10)
-
class EL6022(EBPFTerminal):
class Channel(Struct):
transmit_accept = PacketDesc(3, 0, 0)
@@ -172,6 +179,13 @@ class EL7041(EBPFTerminal):
low_switch = ProcessDesc(0x6010, 0xd)
stepcounter = ProcessDesc(0x6010, 0x14)
+ max_current = ServiceDesc(0x8010, 1)
+ max_voltage = ServiceDesc(0x8010, 3)
+ coil_resistance = ServiceDesc(0x8010, 4)
+ motor_emf = ServiceDesc(0x8010, 5)
+ invLogicLim1 = ServiceDesc(0x8012, 0x30)
+ invLogicLim2 = ServiceDesc(0x8012, 0x31)
+
class EL7332(EBPFTerminal):
compatibility = {(2, 0x1CA43052)}
--
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