Merge branch 'master' into prestonr-add-el5042

Author: preston-rogers

src/jsd.c

@@ -84,7 +84,7 @@ void jsd_set_slave_config(jsd_t* self, uint16_t slave_id,
   self->slave_configs[slave_id] = slave_config;
 }
 
-bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery) {
+bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery, int timeout_us) {
   assert(self);
   self->enable_autorecovery = enable_autorecovery;
 
@@ -165,15 +165,36 @@ bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery) {
 
   self->ecx_context.slavelist[0].state = EC_STATE_OPERATIONAL;
 
+  struct timespec start_processdata_time;
+  clock_gettime(CLOCK_REALTIME, &start_processdata_time);
   ecx_send_overlap_processdata(&self->ecx_context);
-  ecx_receive_processdata(&self->ecx_context, EC_TIMEOUTRET);
+  ecx_receive_processdata(&self->ecx_context, timeout_us);
 
   ecx_writestate(&self->ecx_context, 0);
 
   int attempt = 0;
   while (true) {
+    struct timespec current_time;
+    clock_gettime(CLOCK_REALTIME, &current_time);
+    if ((current_time.tv_nsec - start_processdata_time.tv_nsec)/1e3 > timeout_us) {
+      MSG_DEBUG("Went over the loop period!");
+    }
+    else {
+      struct timespec diff;
+      diff.tv_sec = current_time.tv_sec - start_processdata_time.tv_sec;
+      diff.tv_nsec = current_time.tv_nsec - start_processdata_time.tv_nsec;
+      
+      // Sleep for period defined by timeout_us before attempting to do a receive_processdata.
+      // LRW packets must be sent at constant interval to encourage a successful transition to OP state/
+      if (nanosleep(&diff, NULL) < 0) {
+        perror("nanosleep failed");
+        return 1;
+      }
+    }
+    
+    clock_gettime(CLOCK_REALTIME, &start_processdata_time);
     int sent = ecx_send_overlap_processdata(&self->ecx_context);
-    int wkc  = ecx_receive_processdata(&self->ecx_context, EC_TIMEOUTRET);
+    int wkc  = ecx_receive_processdata(&self->ecx_context, timeout_us);
     ec_state actual_state = ecx_statecheck(
         &self->ecx_context, 0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
 
@@ -195,6 +216,8 @@ bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery) {
       WARNING("Failed OP transition attempt %d of %d", attempt,
               JSD_PO2OP_MAX_ATTEMPTS);
 
+      jsd_inspect_context(self);
+
       if (attempt >= JSD_PO2OP_MAX_ATTEMPTS) {
         ERROR("Max number of attempts to transition to OPERATIONAL exceeded.");
         return false;
@@ -227,6 +250,70 @@ bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery) {
   return true;
 }
 
+bool jsd_all_slaves_operational(jsd_t* self) {
+  bool all_slaves_operational = true;
+  uint8_t currentgroup = 0;  // only 1 rate group in JSD currently
+  /* one or more slaves may not be responding */
+  for (int slave = 1; slave <= *self->ecx_context.slavecount; slave++) {
+    if (self->ecx_context.slavelist[slave].group != currentgroup) continue;
+    /* re-check bad slave individually */
+    ecx_statecheck(&self->ecx_context, slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
+    if (self->ecx_context.slavelist[slave].state != EC_STATE_OPERATIONAL) {
+      all_slaves_operational = false;
+      if (self->ecx_context.slavelist[slave].state ==
+          (EC_STATE_SAFE_OP + EC_STATE_ERROR)) {
+        ERROR("slave[%d] is in SAFE_OP + ERROR.", slave);
+      } else if (self->ecx_context.slavelist[slave].state == EC_STATE_SAFE_OP) {
+        ERROR("slave[%d] is in SAFE_OP.", slave);
+      } else if (self->ecx_context.slavelist[slave].state > EC_STATE_NONE) {
+        ERROR("slave[%d] is in state with hexadecimal: %x", slave, self->ecx_context.slavelist[slave].state);
+      } else {
+        ERROR("slave[%d] is lost", slave);
+      }
+    }
+    else {
+      MSG("slave[%d] is OPERATIONAL.", slave);
+    }
+  }
+
+  return all_slaves_operational;
+}
+
+void jsd_inspect_context(jsd_t* self) {
+  ec_state bus_state = jsd_get_device_state(self, 0);
+
+  /* first check if the jsd bus is operational so we can get more info */
+  if (bus_state != EC_STATE_OPERATIONAL) {
+    ERROR("JSD bus is not OPERATIONAL.");
+  }
+
+  if (jsd_all_slaves_operational(self)) {
+    MSG("All slaves were operational at time of working counter fault.");
+  }
+  else {
+    MSG("Some slaves were not operational.");
+    if (self->ecx_context.ecaterror) {
+      MSG("We experienced an ECAT error. When this occurs, error information aught to be saved. "
+          "Errors in error list displayed below:\n");
+      uint8_t i = 0;
+      while(self->ecx_context.ecaterror && i < JSD_ELIST_MAX_READS) {
+        MSG("%s\n", ecx_elist2string(&self->ecx_context));
+        i++;
+      }
+      if (i == JSD_ELIST_MAX_READS) {
+        MSG("Maximum number of reads from error list experienced."
+            " This is likely a result of indefinite polling.");
+      }
+      else {
+        MSG("Finished reporting errors in error list.");
+      }
+    }
+    else {
+      MSG("Despite some slaves not being operational, an ECAT error was not experienced.");
+    }
+  }
+}
+
 void jsd_read(jsd_t* self, int timeout_us) {
   assert(self);
 
@@ -238,7 +325,7 @@ void jsd_read(jsd_t* self, int timeout_us) {
   }
   if (self->last_wkc != self->expected_wkc && self->wkc == self->expected_wkc) {
     if (self->last_wkc != -1) {
-      MSG("ecx_receive_processdata is not longer reading bad wkc");
+      MSG("ecx_receive_processdata is no longer reading bad wkc");
     }
   }
   self->last_wkc = self->wkc;
@@ -610,7 +697,7 @@ void jsd_ecatcheck(jsd_t* self) {
 
   if ((bus_state == EC_STATE_OPERATIONAL && self->wkc < self->expected_wkc) ||
       self->ecx_context.grouplist[currentgroup].docheckstate) {
-    /* one ore more slaves are not responding */
+    /* one or more slaves are not responding */
     self->ecx_context.grouplist[currentgroup].docheckstate = FALSE;
     ecx_readstate(&self->ecx_context);
     for (slave = 1; slave <= *self->ecx_context.slavecount; slave++) {

src/jsd.h

@@ -8,6 +8,7 @@ extern "C" {
 #include "jsd/jsd_pub.h"
 
 #define JSD_PO2OP_MAX_ATTEMPTS 3
+#define JSD_ELIST_MAX_READS 20
 
 /**
  * @brief converts ec_state int to human-readable string

src/jsd_pub.h

@@ -51,7 +51,22 @@ void jsd_set_slave_config(jsd_t* self, uint16_t slave_id,
  * @param enable_autorecovery enables automatic recovery of lost devices
  * @return true on successful SOEM initialization
  */
-bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery);
+bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery, int timeout_us);
+
+/**
+ * @brief Checks every state individually and reports its EC state.
+ *
+ * @param self pointer JSD context
+ * @return Whether all states are operational or not
+ */
+bool jsd_all_slaves_operational(jsd_t* self);
+
+/**
+ * @brief Determines if all slaves are operational. If not, reports errors from error list.
+ *
+ * @param self pointer JSD context
+ */
+void jsd_inspect_context(jsd_t* self);
 
 /**
  * @brief Receive data from slave devices and store on local IOmap.

test/device/jsd_minimal_example_el3602.c

@@ -23,7 +23,7 @@ int main() {
   jsd_set_slave_config(jsd, slave_id, my_config);
 
   // Slave configuration must come before initialization
-  if (!jsd_init(jsd, "eth9", 1)) {
+  if (!jsd_init(jsd, "eth9", 1, EC_TIMEOUTRET)) {
     ERROR("Could not init jsd");
     return 0;
   }

test/jsd_test_utils.c

@@ -103,7 +103,7 @@ void sds_run(single_device_server_t* self, char* device_name, char* filename) {
 
   uint32_t sds_iter = 0;
 
-  if (!jsd_init(self->jsd, device_name, 1)) {
+  if (!jsd_init(self->jsd, device_name, 1, EC_TIMEOUTRET)) {
     ERROR("Could not init jsd");
     return;
   }

test/unit/jsd_soem_init_close_test.c

@@ -12,7 +12,7 @@ int main(int argc, char* argv[]) {
 
   jsd_t* jsd = jsd_alloc();
 
-  if (!jsd_init(jsd, argv[1], 1)) {
+  if (!jsd_init(jsd, argv[1], 1, EC_TIMEOUTRET)) {
     ERROR("Could not init jsd");
     return 0;
   }

tools/jsd_egd_tlc_tty.c

@@ -151,7 +151,7 @@ int main(int argc, char* argv[]) {
   jsd_set_slave_config(jsd, slave_id, my_config);
 
   // slave configuration must come before initialization
-  if (!jsd_init(jsd, ifname, 1)) {
+  if (!jsd_init(jsd, ifname, 1, EC_TIMEOUTRET)) {
     ERROR("Could not init jsd");
     return 0;
   }