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Merge branch '79-query-scan-progress-via-api-2' into 'devel-1.6'

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Resolve "Query scan progress via API"

See merge request etherlab.org/ethercat!110
This commit is contained in:
Florian Pose
2024-02-01 10:27:07 +00:00
parent 75686518c7 91fe3eb735
commit 2fdea4dd53
7 changed files with 87 additions and 5 deletions
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42
include/ecrt.h
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@@ -1,6 +1,6 @@
/******************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
@@ -31,6 +31,12 @@
* request a master, to map process data, to communicate with slaves via CoE
* and to configure and activate the bus.
*
* Changes in version 1.6.0:
*
* - Added the ecrt_master_scan_progress() method, the
* ec_master_scan_progress_t structure and the EC_HAVE_SCAN_PROGRESS
* definition to check for its existence.
*
* Changes since version 1.5.2:
*
* - Added the ecrt_slave_config_flag() method and the EC_HAVE_FLAGS
@@ -207,6 +213,11 @@
*/
#define EC_HAVE_SOE_REQUESTS
/** Defined, if the method ecrt_master_scan_progress() and the
* ec_master_scan_progress_t sttucture are available.
*/
#define EC_HAVE_SCAN_PROGRESS
/*****************************************************************************/
/** End of list marker.
@@ -357,6 +368,21 @@ typedef struct {
/*****************************************************************************/
/** Master scan progress information.
*
* This is used as an output parameter of ecrt_master_scan_progress().
*
* \see ecrt_master_scan_progress().
*/
typedef struct {
unsigned int slave_count; /**< Number of slaves detected. */
unsigned int scan_index; /**< Index of the slave that is currently scanned.
If it is less than the \a slave_count, the
network scan is in progress. */
} ec_master_scan_progress_t;
/*****************************************************************************/
/** EtherCAT slave port descriptor.
*/
typedef enum {
@@ -752,6 +778,20 @@ int ecrt_master(
information */
);
/** Obtains network scan progress information.
*
* No memory is allocated on the heap in this function.
*
* \attention The pointer to this structure must point to a valid variable.
*
* \return 0 in case of success, else < 0
*/
int ecrt_master_scan_progress(
ec_master_t *master, /**< EtherCAT master */
ec_master_scan_progress_t *progress /**< Structure that will output
the progress information. */
);
/** Obtains slave information.
*
* Tries to find the slave with the given ring position. The obtained

20
lib/master.c
View File

@@ -245,6 +245,26 @@ int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
/****************************************************************************/
int ecrt_master_scan_progress(ec_master_t *master,
ec_master_scan_progress_t *progress)
{
ec_ioctl_master_t data;
int ret;
ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get master info: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
progress->slave_count = data.slave_count;
progress->scan_index = data.scan_index;
return 0;
}
/****************************************************************************/
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
ec_slave_info_t *slave_info)
{

6
master/fsm_master.c
View File

@@ -333,6 +333,7 @@ void ec_fsm_master_state_broadcast(
ec_device_index_t dev_idx;
master->scan_busy = 1;
master->scan_index = 0;
up(&master->scan_sem);
// clear all slaves and scan the bus
@@ -836,6 +837,7 @@ void ec_fsm_master_state_clear_addresses(
ec_device_names[fsm->dev_idx != 0]);
ec_datagram_print_state(datagram);
master->scan_busy = 0;
master->scan_index = master->slave_count;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
return;
@@ -879,6 +881,7 @@ void ec_fsm_master_state_dc_measure_delays(
" on %s link: ", ec_device_names[fsm->dev_idx != 0]);
ec_datagram_print_state(datagram);
master->scan_busy = 0;
master->scan_index = master->slave_count;
wake_up_interruptible(&master->scan_queue);
ec_fsm_master_restart(fsm);
return;
@@ -901,6 +904,7 @@ void ec_fsm_master_state_dc_measure_delays(
// begin scanning of slaves
fsm->slave = master->slaves;
master->scan_index = 0;
EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
fsm->slave->ring_position,
ec_device_names[fsm->slave->device_index != 0]);
@@ -946,6 +950,7 @@ void ec_fsm_master_state_scan_slave(
// another slave to fetch?
fsm->slave++;
master->scan_index++;
if (fsm->slave < master->slaves + master->slave_count) {
EC_MASTER_DBG(master, 1, "Scanning slave %u on %s link.\n",
fsm->slave->ring_position,
@@ -960,6 +965,7 @@ void ec_fsm_master_state_scan_slave(
(jiffies - fsm->scan_jiffies) * 1000 / HZ);
master->scan_busy = 0;
master->scan_index = master->slave_count;
wake_up_interruptible(&master->scan_queue);
ec_master_calc_dc(master);

1
master/ioctl.c
View File

@@ -106,6 +106,7 @@ static ATTRIBUTES int ec_ioctl_master(
}
io.slave_count = master->slave_count;
io.scan_index = master->scan_index;
io.config_count = ec_master_config_count(master);
io.domain_count = ec_master_domain_count(master);
#ifdef EC_EOE

3
master/ioctl.h
View File

@@ -47,7 +47,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 33
#define EC_IOCTL_VERSION_MAGIC 34
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -169,6 +169,7 @@ typedef struct {
typedef struct {
uint32_t slave_count;
uint32_t scan_index;
uint32_t config_count;
uint32_t domain_count;
uint32_t eoe_handler_count;

15
master/master.c
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@@ -186,6 +186,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
master->dc_ref_time = 0ULL;
master->scan_busy = 0;
master->scan_index = 0;
master->allow_scan = 1;
sema_init(&master->scan_sem, 1);
init_waitqueue_head(&master->scan_queue);
@@ -2625,6 +2626,19 @@ int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
/*****************************************************************************/
int ecrt_master_scan_progress(ec_master_t *master,
ec_master_scan_progress_t *progress)
{
EC_MASTER_DBG(master, 1, "ecrt_master_scan_progress(master = 0x%p,"
" progress = 0x%p)\n", master, progress);
progress->slave_count = master->slave_count;
progress->scan_index = master->scan_index;
return 0;
}
/*****************************************************************************/
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
ec_slave_info_t *slave_info)
{
@@ -3248,6 +3262,7 @@ EXPORT_SYMBOL(ecrt_master_send_ext);
EXPORT_SYMBOL(ecrt_master_receive);
EXPORT_SYMBOL(ecrt_master_callbacks);
EXPORT_SYMBOL(ecrt_master);
EXPORT_SYMBOL(ecrt_master_scan_progress);
EXPORT_SYMBOL(ecrt_master_get_slave);
EXPORT_SYMBOL(ecrt_master_slave_config);
EXPORT_SYMBOL(ecrt_master_select_reference_clock);

5
master/master.h
View File

@@ -1,8 +1,6 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -234,6 +232,7 @@ struct ec_master {
ec_slave_t *dc_ref_clock; /**< DC reference clock slave. */
unsigned int scan_busy; /**< Current scan state. */
unsigned int scan_index; /**< Index of slave currently scanned. */
unsigned int allow_scan; /**< \a True, if slave scanning is allowed. */
struct semaphore scan_sem; /**< Semaphore protecting the \a scan_busy
variable and the \a allow_scan flag. */