Added ecrt_master_scan_progress() method.

include/ecrt.h

@@ -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.
  *
@@ -37,6 +37,12 @@
  * 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
@@ -213,6 +219,11 @@
  */
 #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.
@@ -363,6 +374,21 @@ 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 {
@@ -758,6 +784,20 @@ 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

lib/master.c

@@ -251,6 +251,26 @@ 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)
 {

master/fsm_master.c

@@ -339,6 +339,7 @@ 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
@@ -842,6 +843,7 @@ 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;
@@ -885,6 +887,7 @@ 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;
@@ -907,6 +910,7 @@ 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]);
@@ -952,6 +956,7 @@ 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,
@@ -966,6 +971,7 @@ 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);

master/ioctl.c

@@ -112,6 +112,7 @@ 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

master/ioctl.h

@@ -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;

master/master.c

@@ -192,6 +192,7 @@ 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);
@@ -2678,6 +2679,19 @@ 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)
 {
@@ -3301,6 +3315,7 @@ 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);

master/master.h

@@ -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.
  *
@@ -248,6 +246,7 @@ 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. */