ethercat-linux/vendor/ethercrab/examples/multiple-groups.rs

//! Demonstrate sorting SubDevices into multiple SubDevice groups.
//!
//! This demo is designed to be used with the following SubDevices:
//!
//! - EK1100 (or EK1501 if using fibre)
//! - EL2889 (2 bytes of outputs)
//! - EL2828 (1 byte of outputs)

use env_logger::Env;
use ethercrab::{
    MainDevice, MainDeviceConfig, PduStorage, SubDeviceGroup, Timeouts, error::Error,
    std::ethercat_now,
};
use futures_lite::StreamExt;
use std::{
    sync::Arc,
    time::{Duration, Instant},
};

/// Maximum number of SubDevices that can be stored. This must be a power of 2 greater than 1.
const MAX_SUBDEVICES: usize = 16;
/// Maximum PDU data payload size - set this to the max PDI size or higher.
const MAX_PDU_DATA: usize = PduStorage::element_size(1100);
/// Maximum number of EtherCAT frames that can be in flight at any one time.
const MAX_FRAMES: usize = 16;

static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();

#[derive(Default)]
struct Groups {
    /// EL2889 and EK1100/EK1501. For EK1100, 2 items, 2 bytes of PDI for 16 output bits. The EK1501
    /// has 2 bytes of its own PDI so we'll use an upper bound of 4.
    ///
    /// We'll keep the EK1100/EK1501 in here as it has no useful PDI but still needs to live
    /// somewhere.
    slow_outputs: SubDeviceGroup<2, 4>,
    /// EL2828. 1 item, 1 byte of PDI for 8 output bits.
    fast_outputs: SubDeviceGroup<1, 1>,
}

fn main() -> Result<(), Error> {
    smol::block_on(async {
        env_logger::Builder::from_env(Env::default().default_filter_or("info")).init();

        let interface = std::env::args()
            .nth(1)
            .expect("Provide network interface as first argument.");

        log::info!("Starting multiple groups demo...");
        log::info!(
            "Ensure an EK1100 or EK1501 is the first SubDevice, with an EL2828 and EL2889 following it"
        );
        log::info!("Run with RUST_LOG=ethercrab=debug or =trace for debug information");

        let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");

        let maindevice = MainDevice::new(
            pdu_loop,
            Timeouts {
                wait_loop_delay: Duration::from_millis(2),
                mailbox_response: Duration::from_millis(1000),
                ..Default::default()
            },
            MainDeviceConfig::default(),
        );

        #[cfg(target_os = "windows")]
        std::thread::spawn(move || {
            ethercrab::std::tx_rx_task_blocking(
                &interface,
                tx,
                rx,
                ethercrab::std::TxRxTaskConfig { spinloop: false },
            )
            .expect("TX/RX task")
        });
        // Network TX/RX should run in a separate thread to avoid timeouts. Tokio doesn't guarantee a
        // separate thread is used but this is good enough for an example. If using `tokio`, make sure
        // the `rt-multi-thread` feature is enabled.
        #[cfg(not(target_os = "windows"))]
        smol::spawn(ethercrab::std::tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task"))
            .detach();

        let maindevice = Arc::new(maindevice);

        // Read configurations from SubDevice EEPROMs and configure devices.
        let groups = maindevice
            .init::<MAX_SUBDEVICES, _>(
                ethercat_now,
                Groups::default(),
                |groups: &Groups, subdevice| match subdevice.name() {
                    "EL2889" | "EK1100" | "EK1501" => Ok(&groups.slow_outputs),
                    "EL2828" => Ok(&groups.fast_outputs),
                    _ => Err(Error::UnknownSubDevice),
                },
            )
            .await
            .expect("Init");

        let Groups {
            slow_outputs,
            fast_outputs,
        } = groups;

        let maindevice_slow = maindevice.clone();

        let slow_task = async {
            let slow_outputs = slow_outputs
                .into_op(&maindevice_slow)
                .await
                .expect("PRE-OP -> OP");

            let mut slow_cycle_time = smol::Timer::interval(Duration::from_millis(3));

            let slow_duration = Duration::from_millis(250);

            // Only update "slow" outputs every 250ms using this instant
            let mut tick = Instant::now();

            // EK1100 is first SubDevice, EL2889 is second
            let el2889 = slow_outputs
                .subdevice(&maindevice_slow, 1)
                .expect("EL2889 not present!");

            // Set initial output state
            el2889.outputs_raw_mut()[0] = 0x01;
            el2889.outputs_raw_mut()[1] = 0x80;

            loop {
                let Ok(_) = slow_outputs.tx_rx(&maindevice_slow).await else {
                    break;
                };

                // Increment every output byte for every SubDevice by one
                if tick.elapsed() > slow_duration {
                    tick = Instant::now();

                    let el2889 = slow_outputs
                        .subdevice(&maindevice_slow, 1)
                        .expect("EL2889 not present!");

                    let mut o = el2889.outputs_raw_mut();

                    // Make a nice pattern on EL2889 LEDs
                    o[0] = o[0].rotate_left(1);
                    o[1] = o[1].rotate_right(1);
                }

                slow_cycle_time.next().await;
            }
        };

        let fast_task = async move {
            let fast_outputs = fast_outputs
                .into_op(&maindevice)
                .await
                .expect("PRE-OP -> OP");

            let mut fast_cycle_time = smol::Timer::interval(Duration::from_millis(5));

            loop {
                let Ok(_) = fast_outputs.tx_rx(&maindevice).await else {
                    break;
                };

                // Increment every output byte for every SubDevice by one
                for subdevice in fast_outputs.iter(&maindevice) {
                    let mut o = subdevice.outputs_raw_mut();

                    for byte in o.iter_mut() {
                        *byte = byte.wrapping_add(1);
                    }
                }

                fast_cycle_time.next().await;
            }
        };

        let (_slow, _fast) = smol::future::zip(slow_task, fast_task).await;

        Ok(())
    })
}