From 1d48c1d7a5a4fd3153cc7cab2949d51cbabba3d8 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Mon, 16 Dec 2019 14:25:18 +0100
Subject: [PATCH] fixed several bugs in EtherCAT::readErrorCounters()
---
.../libraries/ArmarXEtherCAT/EtherCAT.cpp | 59 ++++++++++++-------
.../libraries/ArmarXEtherCAT/EtherCAT.h | 3 +-
.../ArmarXEtherCAT/EtherCATRTUnit.cpp | 1 +
3 files changed, 42 insertions(+), 21 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
index 76552f55e..4e03cce5d 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
@@ -705,7 +705,7 @@ void EtherCAT::printALStatusError(uint16_t slave)
{
std::string name = "Unknown";
- AbstractSlavePtr slavePtr = getSlaveAtId(slave);
+ AbstractSlavePtr slavePtr = getSlaveAtIndex(slave);
if (slavePtr)
{
name = slavePtr->getSlaveIdentifier().humanName;
@@ -717,6 +717,19 @@ void EtherCAT::printALStatusError(uint16_t slave)
<< ", name: " << ec_slave[slave].name;
}
+int EtherCAT::ecx_APRD_with_error_handling(uint16_t ADP, uint16_t ADO, uint16_t length, void* data, int timeout, uint16_t slaveIndex, const std::string& name, int port)
+{
+ int retval = ecx_APRD(ecx_context.port, ADP, ADO, length, data, timeout);
+ if (retval <= 0)
+ {
+ std::stringstream ss;
+ ss << "0x" << std::hex << std::setw(4) << std::setfill('0') << ADO;
+ ARMARX_ERROR << "ecx_APRD failed: WC = " << retval << " (-1: EC_NOFRAME) . Slavenumber " << slaveIndex << "\tname: " << name << "\tport:" << port
+ << "\taddr: " << ss.str();
+ }
+ return retval;
+}
+
void EtherCAT::readErrorCounters()
{
IceUtil::Time start = IceUtil::Time::now(IceUtil::Time::Monotonic);
@@ -724,39 +737,45 @@ void EtherCAT::readErrorCounters()
{
std::string name = "Unknown";
- AbstractSlavePtr slavePtr = getSlaveAtId(slaveIndex);
+ AbstractSlavePtr slavePtr = getSlaveAtIndex(slaveIndex);
if (slavePtr)
{
name = slavePtr->getSlaveIdentifier().humanName;
}
- auto ADPh = (uint16)(1 - slaveIndex);
- uint16_t configAddr = ecx_APRDw(ecx_context.port, ADPh, ECT_REG_STADR, 100000);
+ uint16 ADPh = (uint16)(1 - slaveIndex);
+
+ //not used, only confusing info...
+ //uint16_t configAddr = ecx_APRDw(ecx_context.port, ADPh, ECT_REG_STADR, 100000);
for (int i = 0; i < 4; i++)
{
// Error handling taken from
// https://www.ethercat.org/download/documents/EtherCAT_Diagnosis_For_Users_DE.pdf
// or Armar6RT/etc/doc/EtherCAT_Diagnosis_For_Users_DE.pdf
- uint8_t rxError;
- uint8_t invalidFrameCounter; // or Physical error count
- uint8_t previousErrorCounter; // shows the error counter of a predecessor
- uint8_t linkLostCounter;
- ecx_APRD(ecx_context.port, ADPh, 0x300 + i * 2, 1, &rxError, 100000);
- ecx_APRD(ecx_context.port, ADPh, 0x301 + i * 2, 1, &invalidFrameCounter, 100000);
- ecx_APRD(ecx_context.port, ADPh, 0x308 + i, 1, &previousErrorCounter, 100000);
- ecx_APRD(ecx_context.port, ADPh, 0x310 + i, 1, &linkLostCounter, 100000);
- if (rxError > 0 || invalidFrameCounter > 0 || previousErrorCounter > 0 || linkLostCounter > 0)
+ uint8_t rxErrorCounter = 0;
+ uint8_t invalidFrameCounter = 0; // or Physical error count
+ uint8_t forwardedRxErrorCounter = 0; // shows the error counter of a predecessor
+ uint8_t linkLostCounter = 0;
+ int ret1 = ecx_APRD_with_error_handling(ADPh, 0x300 + i * 2, 1, &invalidFrameCounter, 100000, slaveIndex, name, i);
+ int ret2 = ecx_APRD_with_error_handling(ADPh, 0x301 + i * 2, 1, &rxErrorCounter, 100000, slaveIndex, name, i);
+ int ret3 = ecx_APRD_with_error_handling(ADPh, 0x308 + i, 1, &forwardedRxErrorCounter, 100000, slaveIndex, name, i);
+ int ret4 = ecx_APRD_with_error_handling(ADPh, 0x310 + i, 1, &linkLostCounter, 100000, slaveIndex, name, i);
+
+ if (rxErrorCounter > 0 || invalidFrameCounter > 0 || forwardedRxErrorCounter > 0 || linkLostCounter > 0)
+ {
+ ARMARX_ERROR << "Errors found for Slavenumber " << slaveIndex << "\tname: " << name << "\tport:" << i << ": "
+ << VAROUT((int)rxErrorCounter) << "\t" << VAROUT((int)invalidFrameCounter) << "\t" << VAROUT((int)forwardedRxErrorCounter) << "\t" << VAROUT((int)linkLostCounter);
+ }
+ else if (ret1 > 0 && ret2 > 0 && ret3 > 0 && ret4 > 0)
{
- ARMARX_ERROR << "non zero frame error counter found: Slavenumber " << slaveIndex << "\tname: " << name
- << "\tconfig addr: " << (int)configAddr << ": port " << i << ": "
- << VAROUT((int)rxError) << "\t" << VAROUT((int)invalidFrameCounter) << "\t" << VAROUT((int)previousErrorCounter) << "\t" << VAROUT((int)linkLostCounter);
+ ARMARX_INFO << "no errors for Slavenumber " << slaveIndex << "\tname: " << name << "\tport:" << i;
}
}
if ((IceUtil::Time::now(IceUtil::Time::Monotonic) - start).toMilliSeconds() > 10)
{
updatePDO();
- ARMARX_RT_LOGF_INFO("Updated BUS to prevent timeout").deactivateSpam(1);
+ ARMARX_RT_LOGF_INFO("Updated BUS to prevent timeout");
start = IceUtil::Time::now(IceUtil::Time::Monotonic);
}
}
@@ -902,7 +921,7 @@ void EtherCAT::errorHandling()
ec_errort error;
while (ec_poperror(&error))
{
- auto slave = getSlaveAtId(error.Slave);
+ auto slave = getSlaveAtIndex(error.Slave);
if (error.Etype == EC_ERR_TYPE_EMERGENCY)
{
ARMARX_RT_LOGF_WARN("Found emergency error for slave %s (id: %d) from timestamp %d: error code: %d, error reg: %d, error index: %d, error sub index: %d",
@@ -1442,12 +1461,12 @@ int EtherCAT::getMappedSize()
return actualMappedSize;
}
-AbstractSlavePtr EtherCAT::getSlaveAtId(uint16_t slaveId) const
+AbstractSlavePtr EtherCAT::getSlaveAtIndex(uint16_t slaveIndex) const
{
for (AbstractSlavePtr slave : slaves)
{
// ARMARX_INFO << "Checking slave: " << slave->getSlaveNumber() << " vs " << slaveId;
- if (slave->getSlaveNumber() == slaveId)
+ if (slave->getSlaveNumber() == slaveIndex)
{
return slave;
}
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
index 9e283b596..e5c4317bf 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h
@@ -82,7 +82,7 @@ namespace armarx
std::array<char, IOmapSize>& getIOMapBuffer();
int getMappedSize();
- AbstractSlavePtr getSlaveAtId(uint16_t slaveId) const;
+ AbstractSlavePtr getSlaveAtIndex(uint16_t slaveIndex) const;
std::vector<AbstractSlavePtr> getSlaves();
bool getProductCode(uint16_t slave, uint32_t& productCode) const;
@@ -154,6 +154,7 @@ namespace armarx
protected:
void readErrorCounters();
+ int ecx_APRD_with_error_handling(uint16_t ADP, uint16_t ADO, uint16_t length, void* data, int timeout, uint16_t slaveIndex, const std::string& name, int port);
private:
//Hiding the constructor to avoid illegal creation of the Bus (singelton pattern)
EtherCAT();
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
index 7a2f418f4..fb6c0946d 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp
@@ -126,6 +126,7 @@ void EtherCATRTUnit::onInitRobotUnit()
EtherCAT& bus = EtherCAT::getBus();
bus.setMainUnitPtr(this);
bus.setDeviceContainerPtr(deviceContainerPtr);
+ bus.setCheckErrorCountersOnWKCError(getProperty<bool>("checkErrorCountersOnEtherCATError").getValue());
}
--
GitLab