simple_test.c

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/** \file
 * \brief Example code for Simple Open EtherCAT master
 *
 * Usage : simple_test [ifname1]
 * ifname is NIC interface, f.e. eth0
 *
 * This is a minimal test.
 *
 * (c)Arthur Ketels 2010 - 2011
 */

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>

#include "ethercattype.h"
#include "nicdrv.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatcoe.h"
#include "ethercatfoe.h"
#include "ethercatconfig.h"
#include "ethercatprint.h"

char IOmap[4096];

void simpletest(char *ifname)
{
  int i, j, oloop, iloop, wkc, wkc_count, slave;
  boolean needlf;

  needlf = FALSE;
  printf("Starting simple test\n");
  
  /* initialise SOEM, bind socket to ifname */
  if (ec_init(ifname))
  { 
    printf("ec_init on %s succeeded.\n",ifname);
    /* find and auto-config slaves */


      if ( ec_config_init(FALSE) > 0 )
    {
      printf("%d slaves found and configured.\n",ec_slavecount);

      ec_config_map(&IOmap);

      printf("Slaves mapped, state to SAFE_OP.\n");
      /* wait for all slaves to reach SAFE_OP state */
      ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 4);

      oloop = ec_slave[0].Obytes;
      if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
      if (oloop > 8) oloop = 8;
      iloop = ec_slave[0].Ibytes;
      if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
      if (iloop > 8) iloop = 8;

      printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);

      printf("Request operational state for all slaves\n");
      printf("Calculated workcounter %d\n",ec_group[0].expectedWKC);
      ec_slave[0].state = EC_STATE_OPERATIONAL;
      /* send one valid process data to make outputs in slaves happy*/
      ec_send_processdata();
      ec_receive_processdata(EC_TIMEOUTRET);
      /* request OP state for all slaves */
      ec_writestate(0);
      /* wait for all slaves to reach OP state */
      ec_statecheck(0, EC_STATE_OPERATIONAL,  EC_TIMEOUTSTATE * 4);
      if (ec_slave[0].state == EC_STATE_OPERATIONAL )
      {
        printf("Operational state reached for all slaves.\n");
        wkc_count = 0;
        /* cyclic loop 10 times */
        for(i = 1; i <= 10000; i++)
        {
          ec_send_processdata();
          wkc = ec_receive_processdata(EC_TIMEOUTRET);

          if( (wkc < ec_group[0].expectedWKC) || ec_group[0].docheckstate)
          {
            if (needlf)
            {
              needlf = FALSE;
              printf("\n");
            }
            /* one ore more slaves are not responding */
            ec_group[0].docheckstate = FALSE;
            ec_readstate();
            for (slave = 1; slave <= ec_slavecount; slave++)
            {
              if (ec_slave[slave].state != EC_STATE_OPERATIONAL)
              {
                ec_group[0].docheckstate = TRUE;
                if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
                {
                  printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
                  ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
                  ec_writestate(slave);
                }
                else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
                {
                  printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
                  ec_slave[slave].state = EC_STATE_OPERATIONAL;
                  ec_writestate(slave);                   
                }
                else if(ec_slave[slave].state > 0)
                {
                  if (ec_reconfig_slave(slave))
                  {
                    ec_slave[slave].islost = FALSE;
                    printf("MESSAGE : slave %d reconfigured\n",slave);                  
                  }
                } 
                else if(!ec_slave[slave].islost)
                {
                  ec_slave[slave].islost = TRUE;
                  printf("ERROR : slave %d lost\n",slave);                  
                }
              }
              if (ec_slave[slave].islost)
              {
                if(!ec_slave[slave].state)
                {
                  if (ec_recover_slave(slave))
                  {
                    ec_slave[slave].islost = FALSE;
                    printf("MESSAGE : slave %d recovered\n",slave);                 
                  }
                }
                else
                {
                  ec_slave[slave].islost = FALSE;
                  printf("MESSAGE : slave %d found\n",slave);                 
                }
              }
            }
            if(!ec_group[0].docheckstate)
              printf("OK : all slaves resumed OPERATIONAL.\n");
          }
          else
          {
            printf("Processdata cycle %4d, WKC %d , O:", i, wkc);

            for(j = 0 ; j < oloop; j++)
            {
              printf(" %2.2x", *(ec_slave[0].outputs + j));
            }

            printf(" I:");          
            for(j = 0 ; j < iloop; j++)
            {
              printf(" %2.2x", *(ec_slave[0].inputs + j));
            } 
            printf("\r");
            needlf = TRUE;
          }
          usleep(10000);
          
        }
      }
      else
      {
        printf("Not all slaves reached operational state.\n");
        ec_readstate();
        for(i = 1; i<=ec_slavecount ; i++)
        {
          if(ec_slave[i].state != EC_STATE_OPERATIONAL)
          {
            printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
              i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
          }
        }
      }     
      printf("\nRequest safe operational state for all slaves\n");
      ec_slave[0].state = EC_STATE_INIT;
      /* request SAFE_OP state for all slaves */
      ec_writestate(0);
    }
    else
    {
      printf("No slaves found!\n");
    }
    printf("End simple test, close socket\n");
    /* stop SOEM, close socket */
    ec_close();
  }
  else
  {
    printf("No socket connection on %s\nExcecute as root\n",ifname);
  } 
} 

int main(int argc, char *argv[])
{
  printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");

  if (argc > 1)
  {   
    /* start cyclic part */
    simpletest(argv[1]);
  }
  else
  {
    printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
  } 
  
  printf("End program\n");
  return (0);
}