65 lines
1.7 KiB
Rust
65 lines
1.7 KiB
Rust
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//! Test that segmented CoE uploads work.
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//!
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//! - EK1914
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mod util;
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use env_logger::Env;
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use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, Timeouts, error::Error};
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use std::path::PathBuf;
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const MAX_SUBDEVICES: usize = 16;
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const MAX_PDU_DATA: usize = PduStorage::element_size(1100);
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const MAX_FRAMES: usize = 128;
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const PDI_LEN: usize = 128;
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#[tokio::test]
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#[cfg_attr(miri, ignore)]
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async fn replay_ek1914_segmented_upload() -> Result<(), Error> {
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env_logger::Builder::from_env(Env::default().default_filter_or("info")).init();
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static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
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let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
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let maindevice = MainDevice::new(
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pdu_loop,
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Timeouts::default(),
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MainDeviceConfig {
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dc_static_sync_iterations: 100,
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..Default::default()
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},
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);
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let test_name = PathBuf::from(file!())
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.file_stem()
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.unwrap()
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.to_string_lossy()
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.to_string();
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util::spawn_tx_rx(&format!("tests/{test_name}.pcapng"), tx, rx);
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// Read configurations from SubDevice EEPROMs and configure devices.
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let group = maindevice
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.init_single_group::<MAX_SUBDEVICES, PDI_LEN>(|| 0)
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.await
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.expect("Init");
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assert_eq!(group.subdevice(&maindevice, 0)?.name(), "EK1914");
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let first = group
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.subdevice(&maindevice, 0)
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.expect("EK1914 must be first");
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let name_coe = first
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.sdo_read::<heapless::String<32>>(0x1008, 0)
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.await
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.expect("Failed to read name");
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log::info!("Device name: {:?}", name_coe);
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assert_eq!(&name_coe, "EK1914");
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Ok(())
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}
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