ethercat-linux/vendor/ethercrab/examples/pdi-and-sdo.rs

//! Demonstrate interleaving SDO reads with process data TX/RX.

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

/// 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;
/// Maximum total PDI length.
const PDI_LEN: usize = 64;

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

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 EK1100/EK1501 demo...");
        log::info!(
            "Ensure an EK1100 or EK1501 is the first SubDevice, with any number of modules connected after"
        );
        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 = Arc::new(MainDevice::new(
            pdu_loop,
            Timeouts {
                // Reduce wait loop delay to zero so SDO reads are as fast as possible. This isn't
                // necessary, but helps reduce SDO read transaction times.
                wait_loop_delay: Duration::from_millis(0),
                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")
        });
        #[cfg(not(target_os = "windows"))]
        smol::spawn(ethercrab::std::tx_rx_task(&interface, tx, rx).expect("spawn TX/RX task"))
            .detach();

        let group = maindevice
            .init_single_group::<MAX_SUBDEVICES, PDI_LEN>(ethercat_now)
            .await
            .expect("Init");

        log::info!("Discovered {} SubDevices", group.len());

        for subdevice in group.iter(&maindevice) {
            if subdevice.name() == "EL3004" {
                log::info!("Found EL3004. Configuring...");

                subdevice.sdo_write(0x1c12, 0, 0u8).await?;

                subdevice
                    .sdo_write_array(0x1c13, &[0x1a00u16, 0x1a02, 0x1a04, 0x1a06])
                    .await?;

                // The `sdo_write_array` call above is equivalent to the following
                // subdevice.sdo_write(0x1c13, 0, 0u8).await?;
                // subdevice.sdo_write(0x1c13, 1, 0x1a00u16).await?;
                // subdevice.sdo_write(0x1c13, 2, 0x1a02u16).await?;
                // subdevice.sdo_write(0x1c13, 3, 0x1a04u16).await?;
                // subdevice.sdo_write(0x1c13, 4, 0x1a06u16).await?;
                // subdevice.sdo_write(0x1c13, 0, 4u8).await?;
            }
        }

        let group = group.into_op(&maindevice).await.expect("PRE-OP -> OP");

        for subdevice in group.iter(&maindevice) {
            let io = subdevice.io_raw();

            log::info!(
                "-> SubDevice {:#06x} {} inputs: {} bytes, outputs: {} bytes",
                subdevice.configured_address(),
                subdevice.name(),
                io.inputs().len(),
                io.outputs().len()
            );
        }

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

        let shutdown = Arc::new(AtomicBool::new(false));
        signal_hook::flag::register(signal_hook::consts::SIGINT, Arc::clone(&shutdown))
            .expect("Register hook");

        // A contrived task that reads all SubDevice names every few seconds
        let sdo_task = async {
            loop {
                // Graceful shutdown on Ctrl + C
                if shutdown.load(Ordering::Relaxed) {
                    log::info!("Shutting down...");

                    break;
                }

                smol::Timer::after(Duration::from_secs(2)).await;

                for subdevice in group.iter(&maindevice) {
                    let Ok(name) = subdevice.sdo_read::<heapless::String<32>>(0x1008, 0).await
                    else {
                        // Ignore devices which failed to read the name for whatever reason
                        continue;
                    };

                    log::info!(
                        "Device {:#06x} name: {}",
                        subdevice.configured_address(),
                        name
                    );
                }
            }
        };

        let pdi_task = async {
            loop {
                // Graceful shutdown on Ctrl + C
                if shutdown.load(Ordering::Relaxed) {
                    log::info!("Shutting down...");

                    break;
                }

                group.tx_rx(&maindevice).await.expect("TX/RX");

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

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

                tick_interval.next().await;
            }
        };

        smol::future::race(pdi_task, sdo_task).await;

        let group = group
            .into_safe_op(&maindevice)
            .await
            .expect("OP -> SAFE-OP");

        log::info!("OP -> SAFE-OP");

        let group = group
            .into_pre_op(&maindevice)
            .await
            .expect("SAFE-OP -> PRE-OP");

        log::info!("SAFE-OP -> PRE-OP");

        let _group = group.into_init(&maindevice).await.expect("PRE-OP -> INIT");

        log::info!("PRE-OP -> INIT, shutdown complete");

        Ok(())
    })
}