21b2d3bf99
Re-implementation of rustbootd's ecat_el6695_* examples as a single binary with fixes found in review and on hardware: - DC-follow PLL hardened against period-2 hunting: slew-limited anchor (+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline - drift-free absolute-grid ticker mode; probe mode for timestamp forensics - bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown with full report, error-streak abort - timestamp plausibility filter comparing against the previous raw sample (avoids the deadlock after a startup outlier) - XFC scope waveform options: --el2202 (with --el2202-dual), --el2262, --el1252 latch timestamp readback with per-channel edge statistics - register access unified in regs.rs: named bit constants everywhere, read-modify-write for enable/activation bytes - vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe) Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz, tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback edge interval mean 2000.24us std=24.65us.
61 lines
1.5 KiB
Markdown
61 lines
1.5 KiB
Markdown
# Integration tests
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Uses Wireshark captures of known-good runs as replays to test for regressions against.
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## Capturing replays
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Captures should be run in debug mode to make sure everything has time to breathe. If this is not
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done, the replays can fail in weird and confusing ways.
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### With `just`
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From the repository root, run e.g.
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```bash
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just capture-replay replay-ek1100-el2828-el2889 enx00e04c680066
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```
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The replay name must **exactly** match the name of a file in `tests/` (without the `.rs`) extension.
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Debian users may need to run:
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- `sudo apt install psmisc`
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- `cargo install fd-find`
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Note that the Debian apt package `fd-find` installs the binary as `fd-find`, however the script
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looks for just `fd`. Installing with `cargo` doesn't present this issue.
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### Manually on local machine (terminal method)
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`sudo apt install -y tshark`
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Then e.g.
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```bash
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tshark -w tests/replay-ek1100-el2828-el2889.pcapng --interface enp2s0 -f 'ether proto 0x88a4'
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```
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### Remote machine (GUI method)
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On remote machine from project root e.g.
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```bash
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ssh ethercrab 'sudo tcpdump -U -i enp2s0 -w -' | wireshark -f 'ecat' -i - -w ./tests/replay-ek1100-el2828-el2889.pcapng -k
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```
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Then run the test using real interface e.g.:
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```bash
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INTERFACE=enp2s0 just linux-test replay
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```
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### Filtering captured replays
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Use `tshark` to filter out only EtherCAT packets from provided dumps:
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```bash
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tshark -r EL1014.pcapng -Y 'ecat' -w issue-63-el1014.pcapng
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```
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This isn't required if the original capture is filtered with `-f 'ether proto 0x88a4'`.
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