libethercat
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robert-burger
phw_sock_raw_mmaped not working in 0.6
Hi Robert,
I tested the hw refactoring. RAW works fine, but RAWMMAPED seems to have a bug.
First, I think a hw_open call is missing in https://github.com/robert-burger/libethercat/blob/e0be7c856f12db2e3d3c1fcfaa47eb01c0a495c8/src/hw_sock_raw_mmaped.c#L117-L119
But fixing this (https://github.com/marcfir/libethercat/tree/fix/rawmmaped) leads to a timeout. Looking with tcpdump shows that frames are outgoing. So I think the problem is in the recv function.
2024-09-02T08:59:18.832Z INFO [libethercat_rs::base_types] Heap allocated for the ethercat master struct 68092064 bytes
2024-09-02T08:59:18.832Z INFO [libethercat_rs::base_types] Heap allocated for hw_sock_raw_mmaped_t 13208 bytes
2024-09-02T08:59:18.832Z INFO [libethercat_rs] HW_OPEN : got page size 4096 bytes
2024-09-02T08:59:18.889Z INFO [libethercat_rs] HW_OPEN : binding raw socket to enp5s0
2024-09-02T08:59:18.889Z INFO [libethercat_rs] HW_OPEN : got mtu size 1500
2024-09-02T08:59:18.913Z INFO [libethercat_rs] HW_OPEN : Opend phw with size 13208
2024-09-02T08:59:18.939Z INFO [libethercat_rs] ASYNC_LOOP : async loop thread running
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : libethercat version : 0.5.1
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_SLAVES : 256
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_GROUPS : 8
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_PDLEN : 3036
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_MBX_ENTRIES : 16
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_INIT_CMD_DATA : 2048
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_SLAVE_FMMU : 8
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_SLAVE_SM : 8
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_DATAGRAMS : 100
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_EEPROM_CAT_SM : 8
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_EEPROM_CAT_FMMU : 8
2024-09-02T08:59:18.940Z INFO [libethercat_rs] MASTER_OPEN : MAX_EEPROM_CAT_PDO : 128
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_EEPROM_CAT_PDO_ENTRIES : 32
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_EEPROM_CAT_STRINGS : 128
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_EEPROM_CAT_DC : 8
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_STRING_LEN : 128
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_DATA : 4096
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_DS402_SUBDEVS : 4
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_COE_EMERGENCIES : 10
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : MAX_COE_EMERGENCY_MSG_LEN : 32
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_OPEN : Master struct needs 68092064 bytes
2024-09-02T08:59:18.941Z INFO [libethercat_rs] MASTER_SET_STATE : switching from EC_STATE_UNKNOWN to EC_STATE_INIT
2024-09-02T08:59:19.041Z ERROR [libethercat_rs] MASTER_TRANSCEIVE : timeout on cmd 0x8, adr 0x1200000
2024-09-02T08:59:19.141Z ERROR [libethercat_rs] MASTER_TRANSCEIVE : timeout on cmd 0x7, adr 0x0
2024-09-02T08:59:19.141Z ERROR [libethercat_rs] MASTER_SCAN : broadcast read of slave types failed with 65600
thread 'main' panicked at libethercat-rs/examples/main.rs:37:43:
called `Result::unwrap()` on an `Err` value: StateNotReachable
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
tcpdump: verbose output suppressed, use -v[v]... for full protocol decode
listening on enp5s0, link-type EN10MB (Ethernet), snapshot length 262144 bytes
09:05:20.096764 00:30:64:0f:83:35 (oui Unknown) > Broadcast, ethertype Unknown (0x88a4), length 30:
0x0000: 1e10 0800 0000 2001 0200 0000 1100 0000 ................
09:05:20.096800 02:30:64:0f:83:35 (oui Unknown) > Broadcast, ethertype Unknown (0x88a4), length 60:
0x0000: 1e10 0800 0800 2001 0200 0000 1100 0800 ................
0x0010: 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0020: 0000 0000 0000 0000 0000 0000 0000 ..............
09:05:20.197009 00:30:64:0f:83:35 (oui Unknown) > Broadcast, ethertype Unknown (0x88a4), length 30:
0x0000: 1e10 0701 0000 0000 0200 0000 0000 0000 ................
09:05:20.197052 02:30:64:0f:83:35 (oui Unknown) > Broadcast, ethertype Unknown (0x88a4), length 60:
0x0000: 1e10 0701 0800 0000 0200 0000 1301 0800 ................
0x0010: 0000 0000 0000 0000 0000 0000 0000 0000 ................
0x0020: 0000 0000 0000 0000 0000 0000 0000 ..............
yes, you're right. the creation of a receive thread is missing in the sock_raw_mmaped hw layer. i'll re-add this.
note: the open function pointer does not need to be addded to the hw_common struct as it needs to be called in prior to ec_open by the user. it does also take an arbitrary number of arguments depending on the needs of the hw layer so there's no way for libethercat call this...