ebpfcat/ethercat.py

@@ -33,6 +33,7 @@ from contextlib import asynccontextmanager
 from enum import Enum, IntEnum
 from itertools import count
 import logging
+import operator
 from random import randint
 from socket import socket, AF_PACKET, SOCK_DGRAM
 from struct import pack, unpack, unpack_from, calcsize
@@ -355,7 +356,10 @@ class EtherCat(Protocol):
                     logging.info("future already done, dropped datagram")
         except CancelledError:
             raise
-        except Exception:
+        except Exception as e:
+            for _, _, future in dgrams:
+                if not future.done():
+                    future.set_exception(e)
             logging.exception("process_packet failed")
             raise
 
@@ -408,9 +412,8 @@ class EtherCat(Protocol):
             out += b"\0" * data
         elif data is not None:
             out += data
-        assert isinstance(pos, int) and isinstance(offset, int), \
-            f"pos: {pos} offset: {offset}"
-        self.send_queue.put_nowait((cmd, out, idx, pos, offset, future))
+        self.send_queue.put_nowait((cmd, out, idx, operator.index(pos),
+                                    operator.index(offset), future))
         ret = await future
         if data is None:
             return unpack(fmt, ret)

ebpfcat/terminals.py

@@ -29,7 +29,7 @@ class Skip(EBPFTerminal):
 
 
 class EL1808(EBPFTerminal):
-    compatibility = {(2, 118501458)}
+    compatibility = {(2, 118501458), (2, 0x3F03052)}
 
     channel1 = ProcessDesc(0x6000, 1)
     channel2 = ProcessDesc(0x6010, 1)
@@ -41,6 +41,27 @@ class EL1808(EBPFTerminal):
     channel8 = ProcessDesc(0x6070, 1)
 
 
+class EL2212(EBPFTerminal):
+    compatibility = {(2, 0x8A43052)}
+
+    class Channel(Struct):
+        output = ProcessDesc(0x7000, 2)
+
+        boost_current = ServiceDesc(0x8000, 1)
+        hold_current = ServiceDesc(0x8000, 2)
+        supply_voltage = ServiceDesc(0x8000, 3)
+        coil_resistance = ServiceDesc(0x8000, 5)
+        booster_on_time = ServiceDesc(0x8000, 6)
+        booster_off_time = ServiceDesc(0x8000, 7)
+        switch_off_threshold = ServiceDesc(0x8000, 8)
+        enable_booster_on = ServiceDesc(0x8002, 1)
+        enable_booster_off = ServiceDesc(0x8002, 2)
+        enable_off_threshold = ServiceDesc(0x8002, 3)
+
+    channel1 = Channel(0)
+    channel2 = Channel(0x10)
+
+
 class EL2808(EBPFTerminal):
     compatibility = {(2, 184037458), (2, 0x7D83052)}
 

ebpfcat/xdp.py

@@ -25,7 +25,7 @@ from contextlib import asynccontextmanager, contextmanager
 import os
 from socket import AF_NETLINK, NETLINK_ROUTE, if_nametoindex
 import socket
-from struct import pack, unpack
+from struct import pack, unpack_from
 
 from .ebpf import EBPF, MemoryDesc
 from .bpf import ProgType
@@ -86,21 +86,28 @@ class XDRFD(DatagramProtocol):
         transport.sendto(p, (0, 0))
 
     def datagram_received(self, data, addr):
-        pos = 0
-        while (pos < len(data)):
-            ln, type, flags, seq, pid = unpack("IHHII", data[pos : pos+16])
-            if type == 3:  # DONE
-                self.future.set_result(0)
-                return
-            elif type == 2:  # ERROR
-                errno, *args = unpack("iIHHII", data[pos+16 : pos+36])
-                if errno != 0:
-                    self.future.set_exception(OSError(errno, os.strerror(-errno)))
+        try:
+            pos = 0
+            while (pos < len(data)):
+                ln, type, flags, seq, pid = unpack_from("IHHII", data, pos)
+                if type == 3:  # DONE
+                    self.future.set_result(0)
+                    return
+                elif type == 2:  # ERROR
+                    errno, *args = unpack_from("iIHHII", data, pos + 16)
+                    if errno != 0:
+                        self.future.set_exception(
+                            OSError(errno, os.strerror(-errno)))
+                        return
+                if flags & 2 == 0:  # not a multipart message
+                    self.future.set_result(0)
                     return
-            if flags & 2 == 0:  # not a multipart message
-                self.future.set_result(0)
-                return
-            pos += ln
+                pos += ln
+            self.future.set_exception(
+                RuntimeError("Netlink response not understood"))
+        except Exception as e:
+            self.future.set_exception(e)
+            raise
 
 
 class PacketArray: