docs(ethercat): add EYOU setup guide and scripts
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@ -18,7 +18,9 @@ set(CMAKE_INSTALL_PREFIX "${CMAKE_SOURCE_DIR}/output" CACHE PATH "" FORCE)
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set(CMAKE_BUILD_RPATH "\$ORIGIN:\$ORIGIN/../lib")
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set(CMAKE_INSTALL_RPATH "\$ORIGIN:\$ORIGIN/../lib")
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# Use RUNPATH (new dtags) generally preferable
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# Use transitive RPATH so CLion can run build-tree test executables without
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# manually setting LD_LIBRARY_PATH for indirect third-party dependencies.
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add_link_options(-Wl,--disable-new-dtags)
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set(CMAKE_BUILD_WITH_INSTALL_RPATH OFF)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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103
README.md
103
README.md
@ -1,23 +1,25 @@
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# CMVR-ES
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## Overview
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## 简介
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## Installation
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CMVR-ES 工程。
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### 1. Git submodules install
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## 安装
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### 1. 拉取 Git 子模块
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```
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git submodule update --init --recursive
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```
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### 2. Dependency install
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### 2. 安装系统依赖
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```shell
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# basic
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# 基础工具
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sudo apt-get update
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sudo apt install -y build-essential cmake git pkg-config patchelf libboost-all-dev libssl-dev
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# opencv
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# OpenCV
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sudo apt install -y \
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libjpeg-dev libpng-dev libtiff-dev \
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libavcodec-dev libavformat-dev libswscale-dev \
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@ -39,7 +41,7 @@ sudo apt-get install libassimp-dev
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# visp
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sudo apt-get install -y libx11-dev liblapack-dev libzbar-dev libpthread-stubs0-dev libdc1394-dev nlohmann-json3-dev
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# realsense
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# RealSense
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sudo apt-get install -y \
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libusb-1.0-0-dev libudev-dev \
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libglu1-mesa-dev
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@ -48,4 +50,91 @@ sudo apt-get install -y \
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sudo apt install gnuplot-qt
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```
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### 3. 配置 IgH EtherCAT
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工程已内置 IgH EtherCAT 1.7.0 的 userspace 文件：
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```text
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dependency/x86/third_party/ethercat/v1.7.0
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```
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先设置本机路径：
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```shell
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export CMVR_ES_ROOT=/path/to/cmvr-es
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export IGH_ETHERCAT_ROOT=$CMVR_ES_ROOT/dependency/x86/third_party/ethercat/v1.7.0
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```
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安装当前内核的 header：
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```shell
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sudo apt-get update
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sudo apt-get install -y linux-headers-$(uname -r)
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```
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如果内置目录里已经有当前内核版本的 EtherCAT 内核模块，直接安装到系统：
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```shell
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sudo mkdir -p /lib/modules/$(uname -r)/ethercat
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sudo cp -r $IGH_ETHERCAT_ROOT/lib/modules/$(uname -r)/ethercat/* /lib/modules/$(uname -r)/ethercat/
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sudo depmod
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```
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内置内核模块只适用于相同内核版本。如果 `$IGH_ETHERCAT_ROOT/lib/modules/$(uname -r)` 不存在，说明这台机器的内核版本不匹配，需要在这台机器上重新编译安装 IgH EtherCAT：
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```shell
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sudo apt-get update
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sudo apt-get install -y \
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build-essential autoconf automake libtool pkg-config git \
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linux-headers-$(uname -r)
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cd /tmp
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git clone --branch stable-1.7 --depth 1 https://gitlab.com/etherlab.org/ethercat.git ethercat-stable-1.7
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cd ethercat-stable-1.7
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./bootstrap
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./configure \
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--prefix=$IGH_ETHERCAT_ROOT \
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--libdir=$IGH_ETHERCAT_ROOT/lib \
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--includedir=$IGH_ETHERCAT_ROOT/include \
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--sysconfdir=$IGH_ETHERCAT_ROOT/etc \
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--with-systemdsystemunitdir=$IGH_ETHERCAT_ROOT/lib/systemd/system \
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--enable-generic \
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--with-linux-dir=/lib/modules/$(uname -r)/build
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make -j$(nproc) all modules
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make install
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sudo make modules_install
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sudo depmod
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```
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启动 EtherCAT。`eno1` 换成实际连接 EtherCAT 从站的网卡：
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```shell
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sudo script/ethercat/start_ethercat.sh eno1
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```
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脚本会写入内置 IgH 配置文件：
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```text
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$IGH_ETHERCAT_ROOT/etc/ethercat.conf
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```
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脚本会把该网卡的 MAC 写到 `MASTER0_DEVICE`，使用 `DEVICE_MODULES="generic"`，把网卡从 NetworkManager 断开，并通过 `ethercatctl -c` 启动 IgH master。
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查看状态：
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```shell
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script/ethercat/status_ethercat.sh
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$IGH_ETHERCAT_ROOT/bin/ethercat master
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$IGH_ETHERCAT_ROOT/bin/ethercat slaves
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$IGH_ETHERCAT_ROOT/bin/ethercat pdos
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```
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停止 EtherCAT：
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```shell
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sudo script/ethercat/stop_ethercat.sh eno1
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sudo script/ethercat/stop_ethercat.sh eno1 --restore-network
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```
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5560
docs/EYOU_ServoModule_ECAT_V145.xml
Normal file
5560
docs/EYOU_ServoModule_ECAT_V145.xml
Normal file
File diff suppressed because it is too large
Load Diff
5495
docs/EYOU_ServoModule_ECAT_V145_no_slot.xml
Normal file
5495
docs/EYOU_ServoModule_ECAT_V145_no_slot.xml
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File diff suppressed because it is too large
Load Diff
@ -1,25 +1,51 @@
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# EtherCAT 电机接入教程
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这份文档只说明新增一种 EtherCAT 电机需要改哪里、怎么写。
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当前已接入意优 `EYOU_ServoModule_ECAT_V145`，协议为 EtherCAT CoE + CiA402，PDO 使用 `docs/EYOU_ServoModule_ECAT_V145_no_slot.xml` 中的 `0x1600/0x1A00` 映射。
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## 1. 增加 vendor
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ESI XML 作为厂商通信说明和对照资料保存，运行时不直接解析 XML。实际 PDO 映射写在：
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修改 `protos/cmvr/config/motor_config/motor_config.proto`：
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```proto
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enum MotorVendor {
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MOTOR_VENDOR_UNKNOWN = 0;
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MOTOR_VENDOR_TI5 = 1;
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MOTOR_VENDOR_MUJOCO = 2;
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MOTOR_VENDOR_XXX = 3;
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}
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```text
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cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_cia402_pdo_mapping.h
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```
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`MOTOR_VENDOR_XXX` 改成真实厂商名，例如 `MOTOR_VENDOR_FOO`。不要复用 `TI5`。
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## 1. 系统依赖
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## 2. 写电机配置
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IgH EtherCAT userspace 已安装在：
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新增配置文件：
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```text
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dependency/x86/third_party/ethercat/v1.7.0
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```
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真机运行前，系统里还需要安装/加载 IgH master 内核模块。使用仓库脚本启动 EtherCAT master：
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```bash
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sudo script/ethercat/start_ethercat.sh eno1
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script/ethercat/status_ethercat.sh
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```
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其中 `eno1` 是连接 EtherCAT 从站的网卡。脚本会读取该网卡 MAC，写入：
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```text
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dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf
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```
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并通过 bundled IgH 的 `ethercatctl -c` 启动 master。能看到 EYOU slave 后再启动程序。
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停止 EtherCAT：
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```bash
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sudo script/ethercat/stop_ethercat.sh eno1
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```
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如果这张网卡要恢复给普通网络使用：
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```bash
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sudo script/ethercat/stop_ethercat.sh eno1 --restore-network
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```
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## 2. 电机配置
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新增或修改：
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```text
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cmvr-es/config/devices/motor/ethercat_motors.pb.txt
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@ -34,20 +60,28 @@ motor {
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motor_groups {
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id: "right_arm_ethercat"
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bus_type: MOTOR_BUS_ETHERCAT
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vendor: MOTOR_VENDOR_XXX
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vendor: MOTOR_VENDOR_EYOU
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protocol: MOTOR_PROTOCOL_ETHERCAT_CIA402
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tool_frame: "R_FINGER_TIP"
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ethercat {
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master_id: "eth0"
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master_index: 0
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cycle_us: 1000
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slaves { motor_id: 1 slave_index: 0 vendor_id: 0x00000000 product_code: 0x00000000 }
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slaves { motor_id: 2 slave_index: 1 vendor_id: 0x00000000 product_code: 0x00000000 }
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slaves { motor_id: 3 slave_index: 2 vendor_id: 0x00000000 product_code: 0x00000000 }
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slaves { motor_id: 4 slave_index: 3 vendor_id: 0x00000000 product_code: 0x00000000 }
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slaves { motor_id: 5 slave_index: 4 vendor_id: 0x00000000 product_code: 0x00000000 }
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slaves { motor_id: 6 slave_index: 5 vendor_id: 0x00000000 product_code: 0x00000000 }
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slaves { motor_id: 7 slave_index: 6 vendor_id: 0x00000000 product_code: 0x00000000 }
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cia402 {
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profile_position_trigger_delay_ms: 2
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state_transition_timeout_ms: 1200
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velocity_stop_timeout_ms: 2000
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status_poll_period_ms: 10
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stopped_velocity_tolerance_rad_s: 0.001
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}
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slaves { motor_id: 1 alias: 0 position: 0 }
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slaves { motor_id: 2 alias: 0 position: 1 }
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slaves { motor_id: 3 alias: 0 position: 2 }
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slaves { motor_id: 4 alias: 0 position: 3 }
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slaves { motor_id: 5 alias: 0 position: 4 }
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slaves { motor_id: 6 alias: 0 position: 5 }
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slaves { motor_id: 7 alias: 0 position: 6 }
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}
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joint_limits {
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@ -63,21 +97,26 @@ motor {
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}
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motors {
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motors { id: 1 joint_name: "R_SHOULDER_P" }
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motors { id: 2 joint_name: "R_SHOULDER_R" }
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motors { id: 3 joint_name: "R_SHOULDER_Y" }
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motors { id: 4 joint_name: "R_ELBOW_R" }
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motors { id: 5 joint_name: "R_WRIST_P" }
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motors { id: 6 joint_name: "R_WRIST_Y" }
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motors { id: 7 joint_name: "R_WRIST_R" }
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motors { id: 1 joint_name: "R_SHOULDER_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 2 joint_name: "R_SHOULDER_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 3 joint_name: "R_SHOULDER_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 4 joint_name: "R_ELBOW_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 5 joint_name: "R_WRIST_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 6 joint_name: "R_WRIST_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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motors { id: 7 joint_name: "R_WRIST_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
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}
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}
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}
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```
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`motors.motors.id` 是系统内的电机逻辑 id。`ethercat.slaves.motor_id` 必须和它对应。
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字段说明：
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`joint_limits` 按 `joint_name` 读取，和 CAN、MuJoCo 电机保持同一个风格。
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- `master_index`：IgH master 编号，第一张 EtherCAT master 是 `0`。
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- `alias`：EtherCAT alias，一般为 `0`。
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- `position`：slave 在 EtherCAT 链路上的顺序，从 `0` 开始。
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- `motor_id`：系统内电机 id，必须和 `motors.motors.id` 对应。
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- `encoder_counts_per_rev`：电机编码器每转 count 数，用于 `rad <-> count` 换算。
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- `gear_ratio`：电机轴到关节输出轴的减速比，用于接口层 `rad/rad/s` 和驱动器 raw count/counts/s 换算。
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## 3. 注册设备
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@ -98,15 +137,9 @@ devices {
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}
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```
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## 4. 机械臂使用 EtherCAT group
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## 4. 机械臂使用 EtherCAT 电机
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修改机械臂配置，例如：
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```text
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cmvr-es/config/devices/arm/arm.pb.txt
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```
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把 motor backend 改成：
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修改机械臂配置中的 motor backend：
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```proto
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motor {
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@ -122,116 +155,66 @@ motor {
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}
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```
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## 5. 实现 bus runtime
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## 5. 代码结构
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EtherCAT 总线资源放在：
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EtherCAT 总线运行时：
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```text
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cmvr-es/devices/motor/bus_runtime/ethercat/include/ethercat_motor_bus_runtime.h
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cmvr-es/devices/motor/bus_runtime/ethercat/src/ethercat_motor_bus_runtime.cpp
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```
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`EthercatMotorBusRuntime` 负责：
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它负责：
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- 打开 IgH master
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- 创建 domain
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- 使用 `vendor + protocol` 选择 PDO mapping
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- 按 mapping 配置 `0x1600/0x1A00` PDO
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- 注册每个非 padding PDO entry 的 offset
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- 启动 cyclic loop
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- 按 `motor_id + index + subindex` 提供通用 PDO 读写接口
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CiA402 EtherCAT 电机驱动：
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```text
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读取 ethercat 配置
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初始化 EtherCAT master
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扫描/校验 slave_index、vendor_id、product_code
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启动 cyclic loop
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保存 command/feedback buffer
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停止 cyclic loop
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cmvr-es/devices/motor/drivers/ethercat_motor/include/cia402/cia402_protocol.h
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cmvr-es/devices/motor/drivers/ethercat_motor/include/cia402/cia402_objects.h
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cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/motor_vendor_adapter.h
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cmvr-es/devices/motor/drivers/ethercat_motor/src/cia402/cia402_protocol.cpp
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```
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bus runtime 不创建具体电机，也不关心厂商；它只保存总线连接、线程和数据缓存。
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## 6. 增加具体电机 driver
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新增目录：
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EYOU 私有适配：
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```text
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cmvr-es/devices/motor/drivers/xxx_ethercat/
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CMakeLists.txt
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include/xxx_ethercat_motor.h
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include/xxx_ethercat_motor_protocol.h
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src/xxx_ethercat_motor.cpp
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src/xxx_ethercat_motor_protocol.cpp
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cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor.h
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cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_motor_adapter.h
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cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_cia402_pdo_mapping.h
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cmvr-es/devices/motor/drivers/ethercat_motor/include/vendor/eyou/eyou_objects.h
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cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor.cpp
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cmvr-es/devices/motor/drivers/ethercat_motor/src/vendor/eyou/eyou_motor_adapter.cpp
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```
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`XxxEthercatMotor` 继承 `AbstractMotor`。
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它负责：
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`XxxEthercatMotorProtocol` 继承 `MotorProtocolInterface`，把 `setTarget`、`setQd`、`getQ` 等接口转换成 EtherCAT command/feedback。
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- CiA402 `6040/6041` 状态机
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- 设置 `6060` 运行模式
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- 写 `607A/60FF/6071`
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- 读 `6064/606C/6077/603F`
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- `rad` 和 encoder count 的换算
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## 7. 在 MotorManager 里创建 EtherCAT 电机
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修改：
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```text
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cmvr-es/devices/motor/manager/src/motor_manager.cpp
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```
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在 `MotorManager::createEthercatMotors_()` 里按 `vendor + protocol` 创建具体电机：
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```cpp
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auto ethercat_bus_runtime =
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std::dynamic_pointer_cast<EthercatMotorBusRuntime>(bus_runtime);
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if (group_cfg.vendor() == config::MOTOR_VENDOR_XXX &&
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group_cfg.protocol() == config::MOTOR_PROTOCOL_ETHERCAT_CIA402) {
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auto protocol = std::make_shared<XxxEthercatMotorProtocol>(ethercat_bus_runtime);
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std::vector<std::shared_ptr<AbstractMotor>> motors;
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motors.reserve(motor_cfgs.size());
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for (const auto& cfg : motor_cfgs) {
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auto motor = std::make_shared<XxxEthercatMotor>(cfg);
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motor->setProtocol(protocol);
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if (!motor->init()) {
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return {};
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}
|
||||
motors.push_back(std::move(motor));
|
||||
}
|
||||
return motors;
|
||||
}
|
||||
```
|
||||
|
||||
## 8. 加入 CMake
|
||||
|
||||
修改：
|
||||
|
||||
```text
|
||||
cmvr-es/devices/motor/manager/CMakeLists.txt
|
||||
```
|
||||
|
||||
给 `motor_manager` 链接新增的具体 EtherCAT 电机 target。
|
||||
|
||||
修改：
|
||||
|
||||
```text
|
||||
cmvr-es/devices/motor/CMakeLists.txt
|
||||
```
|
||||
|
||||
加入：
|
||||
|
||||
```cmake
|
||||
add_subdirectory(drivers/xxx_ethercat)
|
||||
```
|
||||
|
||||
## 9. 验证配置
|
||||
|
||||
先验证 proto：
|
||||
## 6. 编译验证
|
||||
|
||||
```bash
|
||||
./output/bin/protoc \
|
||||
--encode=cmvr.config.MotorRootConfig \
|
||||
-I protos \
|
||||
protos/cmvr/config/motor_config/motor_config.proto \
|
||||
< cmvr-es/config/devices/motor/ethercat_motors.pb.txt \
|
||||
> /tmp/ethercat_motors.pb.bin
|
||||
cmake -S . -B cmake-build-debug
|
||||
cmake --build cmake-build-debug --target motor_manager
|
||||
```
|
||||
|
||||
再编译：
|
||||
真机验证顺序：
|
||||
|
||||
```bash
|
||||
cmake --build cmake-build-debug --target mujoco_manual_ui_test
|
||||
sudo script/ethercat/start_ethercat.sh eno1
|
||||
script/ethercat/status_ethercat.sh
|
||||
cmake --build cmake-build-debug --target cmvr_es
|
||||
```
|
||||
|
||||
真机联调时先只验证初始化日志：master 打开、slave 数量、vendor/product 校验、cyclic loop 启动、每个 motor 注册成功。然后再下发运动命令。
|
||||
第一次联调先不要大幅度运动。先看 master 是否打开、slave 是否进入 OP、状态字是否更新，再给单个电机小角度目标。
|
||||
|
||||
BIN
docs/意优CANopen&EtherCAT应用手册V2.2.pdf
Normal file
BIN
docs/意优CANopen&EtherCAT应用手册V2.2.pdf
Normal file
Binary file not shown.
@ -33,5 +33,6 @@ third_party/modbus/3.1.11
|
||||
third_party/visp/3.7.0
|
||||
third_party/mainif/0.0.5
|
||||
third_party/matplotplusplus/1.2.0
|
||||
third_party/ethercat/v1.7.0
|
||||
|
||||
|
||||
|
||||
133
script/ethercat/start_ethercat.sh
Executable file
133
script/ethercat/start_ethercat.sh
Executable file
@ -0,0 +1,133 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage:
|
||||
sudo script/ethercat/start_ethercat.sh [iface] [ethercat_dev] [start_wait_sec]
|
||||
Any pure numeric argument is treated as start_wait_sec.
|
||||
|
||||
Example:
|
||||
sudo script/ethercat/start_ethercat.sh eno1
|
||||
sudo script/ethercat/start_ethercat.sh 10
|
||||
sudo script/ethercat/start_ethercat.sh eno1 10
|
||||
sudo script/ethercat/start_ethercat.sh eno1 /dev/EtherCAT1
|
||||
sudo script/ethercat/start_ethercat.sh eno1 /dev/EtherCAT0 10
|
||||
sudo script/ethercat/start_ethercat.sh eno1 10 /dev/EtherCAT0
|
||||
|
||||
Environment:
|
||||
DEVICE_MODULES=generic IgH device module list.
|
||||
IGH_ROOT=... Override bundled IgH install path.
|
||||
ETHERCAT_CONF=... Override ethercatctl config path.
|
||||
ETHERCAT_DEV=/dev/EtherCAT0 Override EtherCAT character device node.
|
||||
START_WAIT_SEC=5 Seconds to wait for link/slave discovery.
|
||||
USAGE
|
||||
}
|
||||
|
||||
if [[ "${1:-}" == "-h" || "${1:-}" == "--help" ]]; then
|
||||
usage
|
||||
exit 0
|
||||
fi
|
||||
|
||||
if [[ "$(id -u)" -ne 0 ]]; then
|
||||
echo "error: please run with sudo." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
IFACE="${IFACE:-eno1}"
|
||||
ETHERCAT_DEV="${ETHERCAT_DEV:-/dev/EtherCAT0}"
|
||||
START_WAIT_SEC="${START_WAIT_SEC:-5}"
|
||||
|
||||
NON_NUMERIC_ARG_COUNT=0
|
||||
for arg in "$@"; do
|
||||
if [[ "${arg}" =~ ^[0-9]+$ ]]; then
|
||||
START_WAIT_SEC="${arg}"
|
||||
continue
|
||||
fi
|
||||
|
||||
case "${NON_NUMERIC_ARG_COUNT}" in
|
||||
0)
|
||||
IFACE="${arg}"
|
||||
;;
|
||||
1)
|
||||
ETHERCAT_DEV="${arg}"
|
||||
;;
|
||||
*)
|
||||
echo "error: unexpected argument: ${arg}" >&2
|
||||
usage >&2
|
||||
exit 1
|
||||
;;
|
||||
esac
|
||||
NON_NUMERIC_ARG_COUNT=$((NON_NUMERIC_ARG_COUNT + 1))
|
||||
done
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
|
||||
IGH_ROOT="${IGH_ROOT:-${REPO_ROOT}/dependency/x86/third_party/ethercat/v1.7.0}"
|
||||
DEVICE_MODULES="${DEVICE_MODULES:-generic}"
|
||||
ETHERCAT_CONF="${ETHERCAT_CONF:-${IGH_ROOT}/etc/ethercat.conf}"
|
||||
ETHERCATCTL="${IGH_ROOT}/sbin/ethercatctl"
|
||||
ETHERCAT="${IGH_ROOT}/bin/ethercat"
|
||||
|
||||
if [[ ! -d "/sys/class/net/${IFACE}" ]]; then
|
||||
echo "error: network interface '${IFACE}' does not exist." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -x "${ETHERCATCTL}" ]]; then
|
||||
echo "error: ethercatctl not found: ${ETHERCATCTL}" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -x "${ETHERCAT}" ]]; then
|
||||
echo "error: ethercat command not found: ${ETHERCAT}" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
MAC="$(cat "/sys/class/net/${IFACE}/address")"
|
||||
|
||||
echo "EtherCAT interface: ${IFACE}"
|
||||
echo "EtherCAT MAC: ${MAC}"
|
||||
echo "EtherCAT device: ${ETHERCAT_DEV}"
|
||||
echo "IgH root: ${IGH_ROOT}"
|
||||
echo "IgH config: ${ETHERCAT_CONF}"
|
||||
echo "Device modules: ${DEVICE_MODULES}"
|
||||
echo "Start wait: ${START_WAIT_SEC}s"
|
||||
|
||||
mkdir -p "$(dirname "${ETHERCAT_CONF}")"
|
||||
|
||||
if [[ -f "${ETHERCAT_CONF}" ]]; then
|
||||
echo "Stopping existing EtherCAT master with current config..."
|
||||
"${ETHERCATCTL}" -c "${ETHERCAT_CONF}" stop >/dev/null 2>&1 || true
|
||||
sleep 1
|
||||
fi
|
||||
|
||||
cat >"${ETHERCAT_CONF}" <<EOF
|
||||
MASTER0_DEVICE="${MAC}"
|
||||
DEVICE_MODULES="${DEVICE_MODULES}"
|
||||
UPDOWN_INTERFACES="${IFACE}"
|
||||
EOF
|
||||
|
||||
if command -v nmcli >/dev/null 2>&1; then
|
||||
nmcli device disconnect "${IFACE}" >/dev/null 2>&1 || true
|
||||
fi
|
||||
|
||||
ip addr flush dev "${IFACE}"
|
||||
ip link set "${IFACE}" up
|
||||
|
||||
"${ETHERCATCTL}" -c "${ETHERCAT_CONF}" start
|
||||
|
||||
if [[ -e "${ETHERCAT_DEV}" ]]; then
|
||||
chmod 666 "${ETHERCAT_DEV}"
|
||||
else
|
||||
echo "warning: ${ETHERCAT_DEV} not found; skip chmod. Check with: ls -l /dev/EtherCAT*" >&2
|
||||
fi
|
||||
|
||||
for ((i = 0; i < START_WAIT_SEC; ++i)); do
|
||||
if "${ETHERCAT}" slaves 2>/dev/null | grep -qE '^[0-9]+[[:space:]]'; then
|
||||
break
|
||||
fi
|
||||
sleep 1
|
||||
done
|
||||
|
||||
"${ETHERCAT}" master
|
||||
"${ETHERCAT}" slaves || true
|
||||
62
script/ethercat/status_ethercat.sh
Executable file
62
script/ethercat/status_ethercat.sh
Executable file
@ -0,0 +1,62 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage:
|
||||
script/ethercat/status_ethercat.sh
|
||||
|
||||
Environment:
|
||||
IGH_ROOT=... Override bundled IgH install path.
|
||||
ETHERCAT_CONF=... Override ethercatctl config path.
|
||||
USAGE
|
||||
}
|
||||
|
||||
if [[ "${1:-}" == "-h" || "${1:-}" == "--help" ]]; then
|
||||
usage
|
||||
exit 0
|
||||
fi
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
|
||||
IGH_ROOT="${IGH_ROOT:-${REPO_ROOT}/dependency/x86/third_party/ethercat/v1.7.0}"
|
||||
ETHERCAT_CONF="${ETHERCAT_CONF:-${IGH_ROOT}/etc/ethercat.conf}"
|
||||
ETHERCATCTL="${IGH_ROOT}/sbin/ethercatctl"
|
||||
ETHERCAT="${IGH_ROOT}/bin/ethercat"
|
||||
|
||||
if [[ ! -x "${ETHERCATCTL}" ]]; then
|
||||
echo "error: ethercatctl not found: ${ETHERCATCTL}" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -x "${ETHERCAT}" ]]; then
|
||||
echo "error: ethercat command not found: ${ETHERCAT}" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "== ${ETHERCAT_CONF} =="
|
||||
if [[ -f "${ETHERCAT_CONF}" ]]; then
|
||||
sed -n '1,80p' "${ETHERCAT_CONF}"
|
||||
else
|
||||
echo "missing"
|
||||
fi
|
||||
|
||||
echo
|
||||
echo "== kernel modules =="
|
||||
lsmod | grep -E '(^ec_master|^ec_generic|^ec_)' || true
|
||||
|
||||
echo
|
||||
echo "== ethercatctl =="
|
||||
"${ETHERCATCTL}" -c "${ETHERCAT_CONF}" status || true
|
||||
|
||||
echo
|
||||
echo "== master =="
|
||||
"${ETHERCAT}" master || true
|
||||
|
||||
echo
|
||||
echo "== slaves =="
|
||||
"${ETHERCAT}" slaves || true
|
||||
|
||||
echo
|
||||
echo "== pdos =="
|
||||
"${ETHERCAT}" pdos || true
|
||||
70
script/ethercat/stop_ethercat.sh
Executable file
70
script/ethercat/stop_ethercat.sh
Executable file
@ -0,0 +1,70 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
usage() {
|
||||
cat <<'USAGE'
|
||||
Usage:
|
||||
sudo script/ethercat/stop_ethercat.sh [iface] [--restore-network]
|
||||
|
||||
Examples:
|
||||
sudo script/ethercat/stop_ethercat.sh eno1
|
||||
sudo script/ethercat/stop_ethercat.sh eno1 --restore-network
|
||||
|
||||
Environment:
|
||||
IGH_ROOT=... Override bundled IgH install path.
|
||||
ETHERCAT_CONF=... Override ethercatctl config path.
|
||||
USAGE
|
||||
}
|
||||
|
||||
if [[ "${1:-}" == "-h" || "${1:-}" == "--help" ]]; then
|
||||
usage
|
||||
exit 0
|
||||
fi
|
||||
|
||||
if [[ "$(id -u)" -ne 0 ]]; then
|
||||
echo "error: please run with sudo." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
IFACE="eno1"
|
||||
RESTORE_NETWORK="false"
|
||||
|
||||
for arg in "$@"; do
|
||||
case "${arg}" in
|
||||
--restore-network)
|
||||
RESTORE_NETWORK="true"
|
||||
;;
|
||||
-*)
|
||||
echo "error: unknown option: ${arg}" >&2
|
||||
usage >&2
|
||||
exit 1
|
||||
;;
|
||||
*)
|
||||
IFACE="${arg}"
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
|
||||
IGH_ROOT="${IGH_ROOT:-${REPO_ROOT}/dependency/x86/third_party/ethercat/v1.7.0}"
|
||||
ETHERCAT_CONF="${ETHERCAT_CONF:-${IGH_ROOT}/etc/ethercat.conf}"
|
||||
ETHERCATCTL="${IGH_ROOT}/sbin/ethercatctl"
|
||||
|
||||
if [[ ! -x "${ETHERCATCTL}" ]]; then
|
||||
echo "error: ethercatctl not found: ${ETHERCATCTL}" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
"${ETHERCATCTL}" -c "${ETHERCAT_CONF}" stop
|
||||
|
||||
if [[ "${RESTORE_NETWORK}" == "true" ]]; then
|
||||
ip link set "${IFACE}" up
|
||||
if command -v nmcli >/dev/null 2>&1; then
|
||||
nmcli device connect "${IFACE}" || true
|
||||
fi
|
||||
echo "Stopped EtherCAT and requested normal network restore on ${IFACE}."
|
||||
else
|
||||
echo "Stopped EtherCAT. Normal network restore skipped."
|
||||
echo "Use '--restore-network' if this interface should return to NetworkManager."
|
||||
fi
|
||||
Loading…
Reference in New Issue
Block a user