Robin Krämer
8c32ce2a2b
* loop now uses Different Cycle time when development-build is set * fixed formatting * hid stop_dnsmasq import behind feature flag * added feature gate for start_dnsmasq in main
601 lines
23 KiB
Rust
601 lines
23 KiB
Rust
use crate::app_state::{EtherCatDeviceMetaData, EthercatSetup};
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use crate::socketio::main_namespace::MainNamespaceEvents;
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use crate::socketio::main_namespace::ethercat_devices_event::EthercatDevicesEventBuilder;
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use crate::socketio::main_namespace::machines_event::MachineObj;
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use crate::{
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app_state::SharedState,
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ethercat::config::{MAX_FRAMES, MAX_PDU_DATA, MAX_SUBDEVICES, PDI_LEN},
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};
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use control_core::realtime::set_core_affinity;
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use control_core::socketio::namespace::NamespaceCacheingLogic;
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#[cfg(all(target_os = "linux", not(feature = "development-build")))]
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use control_core::{irq_handling::set_irq_affinity, realtime::set_realtime_priority};
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use ethercat_hal::debugging::diagnosis_history::get_most_recent_diagnosis_message;
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use ethercat_hal::devices::devices_from_subdevices;
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use ethercat_hal::devices::wago_750_354::{
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WAGO_750_354_PRODUCT_ID, WAGO_750_354_VENDOR_ID, Wago750_354,
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};
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use ethercat_hal::devices::wago_modules::ip20_ec_di8_do8::{
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IP20_EC_DI8_DO8_PRODUCT_ID, IP20_EC_DI8_DO8_VENDOR_ID, IP20EcDi8Do8,
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};
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use ethercrab::error::Error;
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use ethercrab::subdevice_group::{DcConfiguration, HasDc, PreOpPdi, SafeOp};
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use smol::stream::StreamExt;
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use ta::Next;
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use ta::indicators::ExponentialMovingAverage;
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#[cfg(not(feature = "development-build"))]
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use crate::utils::stop_dnsmasq;
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use ethercrab::std::ethercat_now;
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use ethercrab::{
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DcSync, MainDevice, MainDeviceConfig, PduStorage, RegisterAddress, RetryBehaviour,
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SubDeviceGroup, Timeouts,
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};
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use machines::machine_identification::{
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DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
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DeviceIdentificationIdentified, MachineIdentificationUnique, read_device_identifications,
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};
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use machines::registry::{MACHINE_REGISTRY, MachineRegistry};
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use machines::{Machine, MachineNewHardware, MachineNewHardwareEthercat, MachineNewParams};
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use smol::channel::Sender;
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use socketioxide::extract::SocketRef;
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use std::time::Instant;
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use std::{sync::Arc, time::Duration};
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/// Structure to hold the result of grouping devices by identification
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#[derive(Debug)]
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pub struct DeviceGroupingResult {
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/// Devices grouped by machine identification
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pub device_groups: Vec<Vec<DeviceIdentificationIdentified>>,
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/// Devices that could not be identified
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pub unidentified_devices: Vec<DeviceIdentification>,
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}
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pub fn group_devices_by_identification(
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device_identifications: &Vec<DeviceIdentification>,
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) -> DeviceGroupingResult {
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let mut device_groups: Vec<Vec<DeviceIdentificationIdentified>> = Vec::new();
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let mut unidentified_devices: Vec<DeviceIdentification> = Vec::new();
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for device_identification in device_identifications {
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// if vendor or serial or machine is 0, it is not a valid machine device
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if let Some(device_machine_identification) =
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device_identification.device_machine_identification.as_ref()
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{
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if !device_machine_identification.is_valid() {
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unidentified_devices.push(device_identification.clone());
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continue;
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}
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} else {
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unidentified_devices.push(device_identification.clone());
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continue;
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}
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// scan over all deice groups
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// get the first DeviceMachineIdentification
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// compare and append to the group
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let mut found = false;
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for check_group in device_groups.iter_mut() {
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// get first device in group
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let first_device = check_group.first().expect("group to not be empty");
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let first_device_machine_identification = &first_device
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.device_machine_identification
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.machine_identification_unique;
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// chek if it has machine identification
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if let Some(device_machine_identification) =
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device_identification.device_machine_identification.as_ref()
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{
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// compare with the current device
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if first_device_machine_identification
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== &device_machine_identification.machine_identification_unique
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{
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let device_identification_identified = device_identification
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.clone()
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.try_into()
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.expect("should have Some(DeviceMachineIdentification)");
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check_group.push(device_identification_identified);
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found = true;
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break;
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}
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}
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}
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if !found {
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let device_identification_identified = device_identification
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.clone()
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.try_into()
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.expect("should have Some(DeviceMachineIdentification)");
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device_groups.push(vec![device_identification_identified]);
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}
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}
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DeviceGroupingResult {
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device_groups,
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unidentified_devices,
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}
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}
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pub async fn set_ethercat_devices<const MAX_SUBDEVICES: usize, const MAX_PDI: usize>(
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device_identifications: &Vec<DeviceIdentification>,
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machine_registry: &MachineRegistry,
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hardware: &MachineNewHardwareEthercat<'_, '_, '_>,
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shared_state: Arc<SharedState>,
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socket_queue_tx: Sender<(SocketRef, Arc<control_core::socketio::event::GenericEvent>)>,
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) -> Result<(), anyhow::Error> {
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let device_grouping_result = group_devices_by_identification(device_identifications);
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let machine_new_hardware = MachineNewHardware::Ethercat(hardware);
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let mut machines: Vec<Box<dyn Machine>> = vec![];
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let mut machine_objs: Vec<MachineObj> = vec![];
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for device_group in device_grouping_result.device_groups.iter() {
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let machine_identification_unique: MachineIdentificationUnique = match device_group.first()
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{
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Some(device_identification) => device_identification
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.device_machine_identification
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.machine_identification_unique
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.clone(),
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None => continue, // Skip this group if empty
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};
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let new_machine = machine_registry.new_machine(&MachineNewParams {
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device_group,
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hardware: &machine_new_hardware,
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socket_queue_tx: socket_queue_tx.clone(),
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namespace: None,
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main_thread_channel: Some(shared_state.main_channel.clone()),
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});
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match new_machine {
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Ok(machine) => {
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shared_state.clone().api_machines.lock().await.insert(
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machine_identification_unique.clone(),
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machine.api_get_sender(),
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);
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machine_objs.push(MachineObj {
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machine_identification_unique,
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error: None,
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});
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machines.push(machine);
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}
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Err(e) => machine_objs.push(MachineObj {
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machine_identification_unique,
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error: Some(e.to_string()),
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}),
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}
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}
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let _ = shared_state
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.rt_machine_creation_channel
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.send(crate::app_state::HotThreadMessage::AddMachines(machines))
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.await;
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shared_state.add_machines_if_not_exists(machine_objs).await;
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shared_state.clone().send_machines_event().await;
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Ok(())
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}
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pub async fn setup_loop(
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interface: &str,
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cycle_target: Duration,
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app_state: Arc<SharedState>,
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) -> Result<EthercatSetup, anyhow::Error> {
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tracing::info!("Starting Ethercat PDU loop");
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#[cfg(not(feature = "development-build"))]
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{
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let res = stop_dnsmasq();
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match res {
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Ok(_) => tracing::info!("Stopped dnsmasq"),
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Err(e) => tracing::error!("Failed to stop dnsmasq: {:?}", e),
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};
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// Small Timeout to ensure interfaces get released
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smol::Timer::after(Duration::from_millis(1500)).await;
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}
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// Setup ethercrab tx/rx task
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let pdu_storage = Box::leak(Box::new(PduStorage::<MAX_FRAMES, MAX_PDU_DATA>::new()));
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let (tx, rx, pdu) = pdu_storage.try_split().expect("can only split once");
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let interface = interface.to_string();
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std::thread::Builder::new()
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.name("EthercatTxRxThread".to_owned())
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.spawn(move || {
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#[cfg(all(target_os = "linux", not(feature = "development-build")))]
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match set_irq_affinity(&interface, 3) {
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Ok(_) => tracing::info!("ethernet interrupt handler now runs on cpu:{}", 3),
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Err(e) => tracing::error!("set_irq_handler_affinity failed: {:?}", e),
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}
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// Set core affinity to 4th core
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let _ = set_core_affinity(3);
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// Set the thread to real-time priority
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#[cfg(not(feature = "development-build"))]
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let _ = set_realtime_priority();
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#[cfg(not(all(target_os = "linux", feature = "io-uring")))]
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{
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use ethercrab::std::tx_rx_task;
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let rt = smol::LocalExecutor::new();
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let _ = smol::block_on(rt.run(async {
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tx_rx_task(&interface, tx, rx)
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.expect("spawn TX/RX task")
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.await
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}));
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}
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#[cfg(all(target_os = "linux", feature = "io-uring"))]
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{
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use ethercrab::std::tx_rx_task_io_uring;
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let _ = tx_rx_task_io_uring(&interface, tx, rx)
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.expect("Failed to spawn TX/RX task (io_uring)");
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}
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})
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.expect("Building thread");
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// Create maindevice
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let maindevice = MainDevice::new(
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pdu,
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Timeouts {
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// Default 5000ms
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state_transition: Duration::from_millis(10000),
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// Default 30_000us
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pdu: Duration::from_micros(30_000),
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// Default 10ms
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eeprom: Duration::from_millis(10),
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// Default 0ms
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wait_loop_delay: Duration::from_millis(0),
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// Default 100ms
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mailbox_echo: Duration::from_millis(100),
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// Default 1000ms
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mailbox_response: Duration::from_millis(1000),
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},
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MainDeviceConfig {
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// Default RetryBehaviour::None
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retry_behaviour: RetryBehaviour::Count(5),
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// Default 10_000
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dc_static_sync_iterations: 10_000,
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},
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);
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{
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let app_state_clone = app_state.clone();
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let main_namespace = &mut app_state_clone
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.socketio_setup
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.namespaces
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.write()
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.await
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.main_namespace;
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let event = EthercatDevicesEventBuilder().initializing();
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main_namespace.emit(MainNamespaceEvents::EthercatDevicesEvent(event));
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}
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// Initalize subdevices
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// Fails if DC setup detects a mispatching working copunter, then just try again in loop
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let mut group_preop = match maindevice
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.init_single_group::<MAX_SUBDEVICES, PDI_LEN>(ethercat_now)
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.await
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{
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Ok(group) => {
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tracing::info!("Initialized {} subdevices", &group.len());
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group
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}
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Err(err) => Err(anyhow::anyhow!(
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"[{}::setup_loop] Failed to initialize subdevices: {:?}",
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module_path!(),
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err
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))?,
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};
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for mut subdevice in group_preop.iter_mut(&maindevice) {
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if subdevice.name() == "EL4002" {
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// Sync mode 01 = SM Synchronous, says it does dc but actually doesnt, thx?
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subdevice
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.sdo_write(0x1c32, 1, 1u16)
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.await
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.expect("Set sync mode");
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}
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// Configure SYNC0 AND SYNC1 for EL4102
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else if subdevice.name() == "EL5152" {
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// Sync mode 02 = SYNC0
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subdevice
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.sdo_write(0x1c32, 1, 2u16)
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.await
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.expect("Set sync mode");
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subdevice
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.sdo_write(0x1c32, 0x02, cycle_target.as_nanos() as u32)
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.await
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.expect("Set cycle time");
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subdevice.set_dc_sync(DcSync::Sync01 {
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// EL4102 ESI specifies SYNC1 with an offset of 100k ns
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sync1_period: Duration::from_nanos(100_000),
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});
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} else {
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match subdevice.dc_support() {
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ethercrab::DcSupport::None => (),
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ethercrab::DcSupport::RefOnly => (),
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ethercrab::DcSupport::Bits64 => subdevice.set_dc_sync(DcSync::Sync0),
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ethercrab::DcSupport::Bits32 => subdevice.set_dc_sync(DcSync::Sync0),
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}
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}
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}
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// create devices
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let devices =
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devices_from_subdevices::<MAX_SUBDEVICES, PDI_LEN>(&mut group_preop, &maindevice)?;
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let subdevices = group_preop.iter(&maindevice).collect::<Vec<_>>();
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// extract device identifications
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let device_identifications = read_device_identifications(&subdevices, &maindevice)
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.await
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.into_iter()
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.enumerate()
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.map(|(i, result)| (i, result.ok()))
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.map(
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|(subdevice_index, device_machine_identification)| DeviceIdentification {
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device_machine_identification,
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device_hardware_identification: DeviceHardwareIdentification::Ethercat(
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DeviceHardwareIdentificationEthercat { subdevice_index },
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),
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},
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)
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.collect::<Vec<_>>();
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let devices = device_identifications
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.into_iter()
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.zip(devices)
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.zip(&subdevices)
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.map(|((a, b), c)| (a, b, c))
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.collect::<Vec<_>>();
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let mut ethercat_meta_devices = app_state.ethercat_meta_data.write().await;
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ethercat_meta_devices.clear();
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// filter devices and if Option<DeviceMachineIdentification> is Some
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// return identified_devices, identified_device_identifications, identified_subdevices
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let (identified_device_identifications,identified_devices, identified_subdevices): (
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Vec<_>,
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Vec<_>,
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Vec<_>,
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) = devices
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.iter()
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.filter(|(device_identification, _, _)| {
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match device_identification {
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DeviceIdentification {
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device_machine_identification: Some(_),
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..
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} => true,
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_ => false
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}
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})
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.map(|(device_identification, device, subdevice)| {
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(
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device_identification.clone(),
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device.clone(),
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*subdevice,
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)
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})
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.fold(
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(Vec::new(), Vec::new(), Vec::new()),
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|mut acc, (identified_device_identification, identified_device, identified_subdevice)| {
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acc.0.push(identified_device_identification.clone());
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acc.1.push(identified_device);
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acc.2.push(identified_subdevice);
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let meta = EtherCatDeviceMetaData::from_subdevice(identified_subdevice,identified_device_identification);
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ethercat_meta_devices.push(meta);
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acc
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},
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);
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// We always need to have atleast one subdevice anyways
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let coupler = subdevices.get(0).unwrap();
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let _resp = get_most_recent_diagnosis_message(coupler).await;
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/*
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handle special edge cases,
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Wago couplers handle all subdevices as part of the coupler instead of their own devices,
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meaning we need to convert the PDO Mappings to seperate SubDevices to enable more ease of use
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OR alternatively you could show it like TwinCAT with "slots" on the Coupler
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*/
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match (coupler.identity().vendor_id, coupler.identity().product_id) {
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(WAGO_750_354_VENDOR_ID, WAGO_750_354_PRODUCT_ID) => {
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let r = Wago750_354::initialize_modules(coupler).await?;
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for module in r {
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if coupler.configured_address() == module.belongs_to_addr {
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match ethercat_meta_devices.get(0) {
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Some(meta) => {
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let meta_data = EtherCatDeviceMetaData {
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configured_address: module.slot,
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name:module.name,
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vendor_id:module.vendor_id,
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product_id: module.product_id,
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revision: 0x2,
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device_identification: DeviceIdentification{
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device_machine_identification: meta.device_identification.device_machine_identification.clone(),
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device_hardware_identification: machines::machine_identification::DeviceHardwareIdentification::Ethercat(DeviceHardwareIdentificationEthercat{ subdevice_index: module.slot as usize }) }
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};
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ethercat_meta_devices.push(meta_data);
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}
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None => break,
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}
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}
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}
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}
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(IP20_EC_DI8_DO8_VENDOR_ID, IP20_EC_DI8_DO8_PRODUCT_ID) => {
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let r = IP20EcDi8Do8::initialize_modules(coupler).await?;
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for module in r {
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if coupler.configured_address() == module.belongs_to_addr {
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match ethercat_meta_devices.get(0) {
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Some(meta) => {
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let meta_data = EtherCatDeviceMetaData {
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configured_address: module.slot,
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name:module.name,
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vendor_id:module.vendor_id,
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product_id: module.product_id,
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revision: 0x1,
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device_identification: DeviceIdentification{
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device_machine_identification: meta.device_identification.device_machine_identification.clone(),
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device_hardware_identification: machines::machine_identification::DeviceHardwareIdentification::Ethercat(DeviceHardwareIdentificationEthercat{ subdevice_index: module.slot as usize }) }
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};
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ethercat_meta_devices.push(meta_data);
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}
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None => break,
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}
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}
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}
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}
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_ => (),
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};
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drop(ethercat_meta_devices);
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// remove subdevice from devices tuple
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let devices = devices
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.iter()
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.map(|(device_identification, device, _)| (device_identification.clone(), device.clone()))
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.collect::<Vec<_>>();
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set_ethercat_devices::<MAX_SUBDEVICES, PDI_LEN>(
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&identified_device_identifications,
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&MACHINE_REGISTRY,
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&MachineNewHardwareEthercat {
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ethercat_devices: &identified_devices,
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subdevices: &identified_subdevices,
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},
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app_state.clone(),
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app_state.clone().socketio_setup.socket_queue_tx.clone(),
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)
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.await?;
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// Avoid potential Sdo write Contention on the bus, by just waiting a bit
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// Timeout is not enough ... or rather a monstrous timeout would be required for all of the sdo writes we do ...
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// TODO: Keep small timeout here and add Complete Access configuration for the stepper terminals and complex trerminals like (el5152)
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smol::Timer::after(Duration::from_millis(4000)).await;
|
|
|
|
let mut now = Instant::now();
|
|
let start = Instant::now();
|
|
let mut averages = Vec::new();
|
|
for _ in 0..group_preop.len() {
|
|
averages.push(ExponentialMovingAverage::new(64).unwrap());
|
|
}
|
|
let mut tick_interval = smol::Timer::interval(cycle_target);
|
|
|
|
tracing::info!("Moving into PRE-OP with PDI");
|
|
let group = group_preop.into_pre_op_pdi(&maindevice).await?;
|
|
tracing::info!("Done. PDI available. Waiting for SubDevices to align");
|
|
|
|
loop {
|
|
group
|
|
.tx_rx_sync_system_time(&maindevice)
|
|
.await
|
|
.expect("TX/RX");
|
|
|
|
if now.elapsed() >= Duration::from_millis(25) {
|
|
now = Instant::now();
|
|
let mut max_deviation = 0;
|
|
for (s1, ema) in group.iter(&maindevice).zip(averages.iter_mut()) {
|
|
let diff = match s1
|
|
.register_read::<u32>(RegisterAddress::DcSystemTimeDifference)
|
|
.await
|
|
{
|
|
Ok(value) =>
|
|
// The returned value is NOT in two's compliment, rather the upper bit specifies
|
|
// whether the number in the remaining bits is odd or even, so we convert the
|
|
// value to `i32` using that logic here.
|
|
{
|
|
let flag = 0b1u32 << 31;
|
|
if value >= flag {
|
|
// Strip off negative flag bit and negate value as normal
|
|
-((value & !flag) as i32)
|
|
} else {
|
|
value as i32
|
|
}
|
|
}
|
|
Err(Error::WorkingCounter { .. }) => 0,
|
|
Err(e) => {
|
|
return Err(anyhow::anyhow!("Failed to read DC system time: {:?}", e));
|
|
}
|
|
};
|
|
|
|
let ema_next = ema.next(diff as f64);
|
|
max_deviation = max_deviation.max(ema_next.abs() as u32);
|
|
}
|
|
if max_deviation < 100 {
|
|
tracing::info!("Clocks settled after {} ms", start.elapsed().as_millis());
|
|
break;
|
|
}
|
|
}
|
|
tick_interval.next().await;
|
|
}
|
|
|
|
// SubDevice clocks are aligned. We can turn DC on now.
|
|
let group = group
|
|
.configure_dc_sync(
|
|
&maindevice,
|
|
DcConfiguration {
|
|
// Start SYNC0 100ms in the future
|
|
start_delay: Duration::from_millis(100),
|
|
// SYNC0 period should be the same as the process data loop in most cases
|
|
sync0_period: cycle_target,
|
|
// Send process data half way through cycle
|
|
sync0_shift: cycle_target / 2,
|
|
},
|
|
)
|
|
.await?;
|
|
|
|
// State machine to handle transition to SafeOp with process data
|
|
enum GroupState {
|
|
PreOp(SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, PreOpPdi, HasDc>),
|
|
SafeOp(SubDeviceGroup<MAX_SUBDEVICES, PDI_LEN, SafeOp, HasDc>),
|
|
}
|
|
|
|
let mut group_container = Some(GroupState::PreOp(group));
|
|
let mut tick = 0;
|
|
|
|
let group = loop {
|
|
let now = Instant::now();
|
|
match group_container.take().unwrap() {
|
|
GroupState::PreOp(group) => {
|
|
let res = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
|
if tick > 300 {
|
|
let group = group.request_into_safe_op(&maindevice).await?;
|
|
group_container = Some(GroupState::SafeOp(group));
|
|
tracing::info!("Requested SAFE-OP");
|
|
} else {
|
|
group_container = Some(GroupState::PreOp(group));
|
|
}
|
|
|
|
smol::Timer::at(now + res.extra.next_cycle_wait).await;
|
|
}
|
|
GroupState::SafeOp(group) => {
|
|
let res = group.tx_rx_dc(&maindevice).await.expect("TX/RX");
|
|
if res.all_safe_op() {
|
|
tracing::info!("SAFE-OP");
|
|
break group;
|
|
} else {
|
|
group_container = Some(GroupState::SafeOp(group));
|
|
}
|
|
smol::Timer::at(now + res.extra.next_cycle_wait).await;
|
|
}
|
|
}
|
|
tick += 1;
|
|
};
|
|
|
|
let group_op = group
|
|
.request_into_op(&maindevice)
|
|
.await
|
|
.expect("SAFE-OP -> OP");
|
|
tracing::info!("Started Transition to OP");
|
|
|
|
Ok(EthercatSetup {
|
|
devices,
|
|
group: group_op,
|
|
maindevice,
|
|
all_operational: false,
|
|
})
|
|
}
|