diagnose(pipeline): wire-capture closes the case - vendored ethercrab response cross-talk
Instrumented passive AF_PACKET sniffer (--passive, LE addr fix critical): - DIRECT: SM2 writes 100% accepted (wkc1=10842/wkc0=10842, request+response pairs) - PIPELINE: only 36% accepted (wkc1=3678/wkc0=16638) - SM2 3-buffer handshake rejects premature back-to-back writes - Both modes: identical wire traffic (~830 writes/s, live payloads, 828B frames) Mechanism: concurrent fprd+fpwr futures -> vendored ethercrab response routing completes the fpwr future with the fprd's wkc=1 response (bogus Ok, ferr=0) -> write slot freed early -> next write issued while ESC busy -> wkc=0 discard -> buffer desync -> bridge reads empty buffers -> primary image zero. Prior 'executor starvation' theory DISPROVEN by wire capture. Fix scope: patch vendored ethercrab PDU index matching (or serialize EC ops - no gain).
This commit is contained in:
Tony Cao
parent
5b0bebe93f
commit
010fef0b5d
85
src/main.rs
85
src/main.rs
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@ -208,6 +208,7 @@ fn parse_args() -> Result<Config, String> {
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"--adopt-pure" => cfg.adopt_pure = true,
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"--sync-ts" => cfg.sync_ts = true,
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"--dc-discipline" => cfg.dc_discipline = true,
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"--passive" => {},
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"--sm3-len" => { cfg.sm3_len_force = val("--sm3-len")?.parse().map_err(|_| "bad --sm3-len")?; },
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"--dc" => cfg.dc = true,
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"--iouring" => cfg.iouring = true,
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@ -338,6 +339,77 @@ async fn run(cfg: &Config) -> Result<(), Box<dyn std::error::Error>> {
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}
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});
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if std::env::args().any(|a| a == "--passive") {
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use std::ffi::CString;
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let ciface = CString::new(cfg.iface.as_bytes()).unwrap();
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let fd = unsafe { libc::socket(libc::AF_PACKET, libc::SOCK_RAW, (libc::ETH_P_ALL as u16).to_be() as i32) };
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assert!(fd >= 0, "raw socket failed");
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let ifidx = unsafe { libc::if_nametoindex(ciface.as_ptr()) };
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assert!(ifidx > 0);
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let mut sll: libc::sockaddr_ll = unsafe { std::mem::zeroed() };
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sll.sll_family = libc::AF_PACKET as u16;
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sll.sll_protocol = (libc::ETH_P_ALL as u16).to_be();
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sll.sll_ifindex = ifidx as i32;
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let r = unsafe { libc::bind(fd, &sll as *const libc::sockaddr_ll as *const libc::sockaddr, std::mem::size_of::<libc::sockaddr_ll>() as u32) };
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assert!(r == 0, "bind failed");
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let tv = libc::timeval { tv_sec: 0, tv_usec: 50_000 };
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unsafe { libc::setsockopt(fd, libc::SOL_SOCKET, libc::SO_RCVTIMEO, &tv as *const _ as *const libc::c_void, std::mem::size_of::<libc::timeval>() as u32) };
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let t0 = std::time::Instant::now();
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let (mut n_fpwr, mut n_fprd, mut n_apwr, mut n_aprd, mut n_other) = (0u64, 0u64, 0u64, 0u64, 0u64);
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let (mut n_sm2, mut n_other_addr) = (0u64, 0u64);
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let (mut n_sm2_wkc1, mut n_sm2_wkc0) = (0u64, 0u64);
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let mut samples = 0;
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println!("PASSIVE: listening 12s for EtherCAT frames (FPWR cmd=0x05 to 0x1C00)?");
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while t0.elapsed() < std::time::Duration::from_secs(12) {
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let mut buf = [0u8; 2048];
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let n = unsafe { libc::recv(fd, buf.as_mut_ptr() as *mut libc::c_void, buf.len(), 0) };
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if n <= 0 { continue; }
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let n = n as usize;
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if n < 27 { continue; }
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let et = u16::from_be_bytes([buf[12], buf[13]]);
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if et != 0x88A4 { continue; }
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let cmd = buf[16];
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match cmd {
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0x05 => {
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n_fpwr += 1;
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let ado = u16::from_le_bytes([buf[20], buf[21]]);
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if ado == 0x1C00 {
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n_sm2 += 1;
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if n >= 828 {
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let wkc = u16::from_le_bytes([buf[826], buf[827]]);
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if wkc == 1 { n_sm2_wkc1 += 1; } else { n_sm2_wkc0 += 1; }
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}
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if samples < 6 && n >= 42 {
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let p = &buf[26..42];
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let hex: Vec<String> = p.iter().map(|b| format!("{:02X}", b)).collect();
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let wkc = if n >= 828 { u16::from_le_bytes([buf[826], buf[827]]) } else { 0 };
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println!(" SM2 pay={}.. wkc={}", &hex.join(" ")[..23], wkc);
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samples += 1;
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}
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} else {
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n_other_addr += 1;
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if n_other_addr % 5000 == 1 {
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let adp = u16::from_le_bytes([buf[18], buf[19]]);
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}
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}
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}
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0x04 => {
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n_fprd += 1;
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if n_fprd % 4000 == 1 {
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let adp = u16::from_le_bytes([buf[18], buf[19]]);
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let ado = u16::from_le_bytes([buf[20], buf[21]]);
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}
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}
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0x02 => n_apwr += 1,
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0x01 => n_aprd += 1,
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_ => n_other += 1,
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}
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}
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println!("PASSIVE done: FPWR={} (toSM2={} wkc1={} wkc0={} otherAddr={}) FPRD={}", n_fpwr, n_sm2, n_sm2_wkc1, n_sm2_wkc0, n_other_addr, n_fprd);
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return Ok(());
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}
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println!("Scanning segment (INIT -> PREOP)...");
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let group = maindevice
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.init_single_group::<MAX_SUBDEVICES, PDI_LEN>(ethercat_now)
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@ -461,7 +533,7 @@ async fn run(cfg: &Config) -> Result<(), Box<dyn std::error::Error>> {
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let len = hdr & 0x0FFF; let typ = hdr >> 12;
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let cmd = f[16]; let adp = u16::from_be_bytes([f[18], f[19]]);
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let ado = u16::from_be_bytes([f[20], f[21]]);
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extra = format!(" || ecat len={} type={} cmd=0x{:02X} adp={:#06X} ado={:#06X} wkc={}", len, typ, cmd, adp, ado, f[13 + len as usize]);
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extra = format!(" || ecat len={} type={} cmd=0x{:02X} adp={:04X} ado={:04X} wkc={}", len, typ, cmd, adp, ado, f[13 + len as usize]);
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}
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println!("{} [{}B] {}{}", tag, n, hex.join(" "), extra);
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};
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@ -1557,7 +1629,7 @@ async fn run(cfg: &Config) -> Result<(), Box<dyn std::error::Error>> {
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// ---- rfm-async: event-driven forwarder, no tick ----
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if cfg.mode == Mode::RfmAsync {
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let rfm = rfm_ctx.take().expect("rfm not opened");
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return rfm_async_loop(&maindevice, station, rfm, cfg.duration_sec, cfg.dc_discipline).await;
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return rfm_async_loop(&maindevice, station, rfm, cfg.duration_sec, cfg.dc_discipline, &sd).await;
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}
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loop {
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@ -2320,6 +2392,7 @@ async fn rfm_async_loop(
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mut rfm: el6695_rt::rfm::Rfm,
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duration_sec: u64,
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dc_discipline: bool,
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sd: ðercrab::SubDeviceRef<'_, ðercrab::SubDevice>,
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) -> Result<(), Box<dyn std::error::Error>> {
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use el6695_rt::rfm::*;
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println!("rfm-async: event-driven forwarding, no tick (Ctrl-C to stop)");
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@ -2388,6 +2461,7 @@ async fn rfm_async_loop(
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let mut phase_est: i64 = 0; // estimated TwinCAT frame boundary phase (ns within 1ms)
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let mut wphase_st = OnlineStats::new("write_phase_us", 200, -1_500_000, 1_500_000);
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let mut j2cx_pending: Option<std::time::Instant> = None;
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let mut last_f640_print: u64 = 0;
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while !STOP.load(Ordering::Relaxed) {
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if duration_sec > 0 && start.elapsed().as_secs() >= duration_sec {
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@ -2629,6 +2703,12 @@ async fn rfm_async_loop(
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}
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{ let n = Instant::now(); seg_fprd_us = n.duration_since(cursor).as_micros() as u64; cursor = n; }
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// F640 remote-write-cycle counter (independent of reap path)
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if n_fpwr > 0 && n_fpwr % 512 == 0 && last_f640_print != n_fpwr {
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last_f640_print = n_fpwr;
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let c = sd.sdo_read::<u16>(0xF640, 1).await;
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println!(" F640CNT n={} count={:?}", n_fpwr, c);
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}
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// 6. reap FPWR completion
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if let Some(f) = pending_fpwr.as_mut() {
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if let Some(res) = futures_lite::future::poll_once(f.as_mut()).await {
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@ -2639,6 +2719,7 @@ async fn rfm_async_loop(
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if let Some(td) = j2cx_pending.take() {
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j2cx_st.push(td.elapsed().as_nanos() as i64);
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}
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}
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}
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{ let n = Instant::now(); seg_fpwr_us = n.duration_since(cursor).as_micros() as u64; cursor = n; }
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