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/* Node type: Ethercat.
*
* Author: Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
* Author: Steffen Vogel <post@steffenvogel.de>
* Author: Divya Laxetti <divya.laxetti@rwth-aachen.de>
* SPDX-FileCopyrightText: 2018-2020 Institute for Automation of Complex Power Systems, RWTH Aachen University
* SPDX-License-Identifier: Apache-2.0
*/
#include <sstream>
#include <villas/exceptions.hpp>
#include <villas/node_compat.hpp>
#include <villas/nodes/ethercat.hpp>
#include <villas/super_node.hpp>
#include <villas/utils.hpp>
using namespace villas;
using namespace villas::node;
// Forward declartions
static NodeCompatType p;
// Constants
#define NSEC_PER_SEC (1000000000)
#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
// Global state and config
int master_id = 0;
int alias = 0;
static ec_master_t *master = nullptr;
struct coupler {
int position;
int vendor_id;
int product_code;
ec_slave_config_t *sc;
} coupler = {.position = 0,
.vendor_id = ETHERCAT_VID_BECKHOFF,
.product_code = ETHERCAT_PID_EK1100,
.sc = nullptr};
static void ethercat_cyclic_task(NodeCompat *n) {
int ret;
struct Sample *smp;
auto *w = n->getData<struct ethercat>();
while (true) {
w->task.wait();
// Receive process data
ecrt_master_receive(master);
ecrt_domain_process(w->domain);
// Receive process data
smp = sample_alloc(&w->pool);
if (!smp) {
n->logger->warn("Pool underrun");
continue;
}
smp->length = MIN(w->in.num_channels, smp->capacity);
smp->flags = (int)SampleFlags::HAS_DATA;
smp->signals = n->getInputSignals(false);
// Read process data
for (unsigned i = 0; i < smp->length; i++) {
int16_t ain_value = EC_READ_S16(w->domain_pd + w->in.offsets[i]);
smp->data[i].f = w->in.range * (float)ain_value / INT16_MAX;
}
ret = queue_signalled_push(&w->queue, smp);
if (ret)
n->logger->warn("Failed to enqueue samples");
// Write process data
smp = w->send.exchange(nullptr);
for (unsigned i = 0; i < w->out.num_channels; i++) {
int16_t aout_value = (smp->data[i].f / w->out.range) * INT16_MAX;
EC_WRITE_S16(w->domain_pd + w->out.offsets[i], aout_value);
}
sample_decref(smp);
// send process data
ecrt_domain_queue(w->domain);
ecrt_master_send(master);
}
}
int villas::node::ethercat_type_start(villas::node::SuperNode *sn) {
int ret;
json_error_t err;
if (sn == nullptr)
throw RuntimeError("EtherCAT node-type requires super-node");
json_t *json = sn->getConfig();
if (json) {
ret = json_unpack_ex(
json, &err, 0, "{ s?: i, s?:i, s?: { s?: { s?: i, s?: i, s?: i } } }",
"ethernet", "master", &master_id, "alias", &alias, "coupler",
"position", &coupler.position, "product_code", &coupler.product_code,
"vendor_id", &coupler.vendor_id);
if (ret)
throw ConfigError(json, err, "node-config-node-ethercat");
}
master = ecrt_request_master(master_id);
if (!master)
return -1;
// Create configuration for bus coupler
coupler.sc = ecrt_master_slave_config(
master, alias, coupler.position, coupler.vendor_id, coupler.product_code);
if (!coupler.sc)
return -1;
return 0;
}
int villas::node::ethercat_type_stop() {
auto logger = Log::get("node:ethercat");
logger->info("Releasing EtherCAT master");
ecrt_release_master(master);
return 0;
}
int villas::node::ethercat_parse(NodeCompat *n, json_t *json) {
auto *w = n->getData<struct ethercat>();
int ret;
json_error_t err;
ret = json_unpack_ex(json, &err, 0,
"{ s?: F, s?: { s: i, s?: F, s?: i, s?: i, s?: i }, s?: "
"{ s: i, s?: F, s?: i, s?: i, s?: i } }",
"rate", &w->rate, "out", "num_channels",
&w->out.num_channels, "range", &w->out.range, "position",
&w->out.position, "product_code", &w->out.product_code,
"vendor_id", &w->out.vendor_id, "in", "num_channels",
&w->in.num_channels, "range", &w->in.range, "position",
&w->in.position, "product_code", &w->in.product_code,
"vendor_id", &w->in.vendor_id);
if (ret)
throw ConfigError(json, err, "node-config-node-ethercat");
return 0;
}
char *villas::node::ethercat_print(NodeCompat *n) {
auto *w = n->getData<struct ethercat>();
std::stringstream ss;
ss << "alias=" << alias;
ss << ", in.range=" << w->in.range
<< ", in.num_channels=" << w->in.num_channels;
ss << ", out.range=" << w->out.range
<< ", out.num_channels=" << w->out.num_channels;
return strdup(ss.str().c_str());
}
int villas::node::ethercat_check(NodeCompat *n) {
auto *w = n->getData<struct ethercat>();
// Some parts of the configuration are still hard-coded for this specific setup
if (w->in.product_code != ETHERCAT_PID_EL3008 ||
w->in.vendor_id != ETHERCAT_VID_BECKHOFF ||
w->out.product_code != ETHERCAT_PID_EL4038 ||
w->out.vendor_id != ETHERCAT_VID_BECKHOFF ||
coupler.product_code != ETHERCAT_PID_EK1100 ||
coupler.vendor_id != ETHERCAT_VID_BECKHOFF)
return -1;
return 0;
}
int villas::node::ethercat_prepare(NodeCompat *n) {
int ret;
auto *w = n->getData<struct ethercat>();
ret = pool_init(&w->pool, DEFAULT_ETHERCAT_QUEUE_LENGTH,
SAMPLE_LENGTH(n->getInputSignals(false)->size()));
if (ret)
return ret;
ret = queue_signalled_init(&w->queue, DEFAULT_ETHERCAT_QUEUE_LENGTH);
if (ret)
return ret;
w->in.offsets = new unsigned[w->in.num_channels];
if (!w->in.offsets)
throw MemoryAllocationError();
w->out.offsets = new unsigned[w->out.num_channels];
if (!w->out.offsets)
throw MemoryAllocationError();
w->domain_regs =
new ec_pdo_entry_reg_t[w->in.num_channels + w->out.num_channels + 1];
if (!w->domain_regs)
throw MemoryAllocationError();
memset(w->domain_regs, 0,
(w->in.num_channels + w->out.num_channels + 1) *
sizeof(ec_pdo_entry_reg_t));
// Prepare list of domain registers
int o = 0;
for (unsigned i = 0; i < w->out.num_channels; i++) {
w->out.offsets[i] = 0;
w->domain_regs[o].alias = alias;
w->domain_regs[o].position = w->out.position;
w->domain_regs[o].vendor_id = w->out.vendor_id;
w->domain_regs[o].product_code = w->out.product_code;
w->domain_regs[o].index = 0x7000 + i * 0x10;
w->domain_regs[o].subindex = 0x1;
w->domain_regs[o].offset = w->out.offsets + i;
o++;
};
// Prepare list of domain registers
for (unsigned i = 0; i < w->in.num_channels; i++) {
w->in.offsets[i] = 0;
w->domain_regs[o].alias = alias;
w->domain_regs[o].position = w->in.position;
w->domain_regs[o].vendor_id = w->in.vendor_id;
w->domain_regs[o].product_code = w->in.product_code;
w->domain_regs[o].index = 0x6000 + i * 0x10;
w->domain_regs[o].subindex = 0x11;
w->domain_regs[o].offset = w->in.offsets + i;
o++;
};
w->domain = ecrt_master_create_domain(master);
if (!w->domain)
return -1;
return 0;
}
int villas::node::ethercat_start(NodeCompat *n) {
int ret;
auto *w = n->getData<struct ethercat>();
// Configure analog in
w->in.sc = ecrt_master_slave_config(master, alias, w->in.position,
w->in.vendor_id, w->in.product_code);
if (!w->in.sc)
throw RuntimeError("Failed to get slave configuration.");
ret = ecrt_slave_config_pdos(w->in.sc, EC_END, slave_4_syncs);
if (ret)
throw RuntimeError("Failed to configure PDOs.");
// Configure analog out
w->out.sc = ecrt_master_slave_config(master, alias, w->out.position,
w->out.vendor_id, w->out.product_code);
if (!w->out.sc)
throw RuntimeError("Failed to get slave configuration.");
ret = ecrt_slave_config_pdos(w->out.sc, EC_END, slave_3_syncs);
if (ret)
throw RuntimeError("Failed to configure PDOs.");
ret = ecrt_domain_reg_pdo_entry_list(w->domain, w->domain_regs);
if (ret)
throw RuntimeError("PDO entry registration failed!");
// TODO: Check that master is not already active...
ret = ecrt_master_activate(master);
if (ret)
return -1;
w->domain_pd = ecrt_domain_data(w->domain);
if (!w->domain_pd)
return -1;
// Start cyclic timer
w->task.setRate(w->rate);
// Start cyclic task
w->thread = std::thread(ethercat_cyclic_task, n);
return 0;
}
int villas::node::ethercat_stop(NodeCompat *n) {
int ret;
auto *w = n->getData<struct ethercat>();
w->thread.join();
ret = queue_signalled_close(&w->queue);
if (ret)
return ret;
return 0;
}
int villas::node::ethercat_read(NodeCompat *n, struct Sample *const smps[],
unsigned cnt) {
auto *w = n->getData<struct ethercat>();
int avail;
struct Sample *cpys[cnt];
avail = queue_signalled_pull_many(&w->queue, (void **)cpys, cnt);
if (avail < 0)
n->logger->warn("Pool underrun: avail={}", avail);
sample_copy_many(smps, cpys, avail);
sample_decref_many(cpys, avail);
return avail;
}
int villas::node::ethercat_write(NodeCompat *n, struct Sample *const smps[],
unsigned cnt) {
auto *w = n->getData<struct ethercat>();
if (cnt < 1)
return cnt;
struct Sample *smp = smps[0];
sample_incref(smp);
struct Sample *old = w->send.exchange(smp);
if (old)
sample_decref(old);
return 1;
}
int villas::node::ethercat_init(NodeCompat *n) {
auto *w = n->getData<struct ethercat>();
// Default values
w->rate = 1000;
w->in.num_channels = 8;
w->in.range = 10.0;
w->in.position = 2;
w->in.product_code = ETHERCAT_PID_EL3008;
w->in.vendor_id = ETHERCAT_VID_BECKHOFF;
w->in.sc = nullptr;
w->in.offsets = nullptr;
w->out.num_channels = 8;
w->out.range = 10.0;
w->out.position = 1;
w->out.product_code = ETHERCAT_PID_EL4038;
w->out.vendor_id = ETHERCAT_VID_BECKHOFF;
w->out.sc = nullptr;
w->out.offsets = nullptr;
w->domain = nullptr;
w->domain_pd = nullptr;
w->domain_regs = nullptr;
// Placement new for C++ objects
new (&w->send) std::atomic<struct Sample *>();
new (&w->thread) std::thread();
new (&w->task) Task();
return 0;
}
int villas::node::ethercat_destroy(NodeCompat *n) {
int ret;
auto *w = n->getData<struct ethercat>();
if (w->domain_regs)
delete[] w->domain_regs;
if (w->in.offsets)
delete[] w->in.offsets;
if (w->out.offsets)
delete[] w->out.offsets;
ret = queue_signalled_destroy(&w->queue);
if (ret)
return ret;
ret = pool_destroy(&w->pool);
if (ret)
return ret;
w->task.~Task();
// TODO: Destroy domain?
return 0;
}
int villas::node::ethercat_poll_fds(NodeCompat *n, int *fds) {
auto *w = n->getData<struct ethercat>();
fds[0] = queue_signalled_fd(&w->queue);
return 1;
}
__attribute__((constructor(110))) static void register_plugin() {
p.name = "ethercat";
p.description = "Send and receive samples of an ethercat connection";
p.vectorize = 1; // we only process a single sample per call
p.size = sizeof(struct ethercat);
p.type.start = ethercat_type_start;
p.type.stop = ethercat_type_stop;
p.parse = ethercat_parse;
p.print = ethercat_print;
p.check = ethercat_check;
p.init = ethercat_init;
p.destroy = ethercat_destroy;
p.prepare = ethercat_prepare;
p.start = ethercat_start;
p.stop = ethercat_stop;
p.read = ethercat_read;
p.write = ethercat_write;
p.poll_fds = ethercat_poll_fds;
static NodeCompatFactory ncp(&p);
}
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