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fix: wait for the highest configured address during discovery #21

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Merged
mbloechli merged 4 commits into from
Oct 15, 2026
Merged

fix: wait for the highest configured address during discovery #21

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8e0a256
fix: wait for the highest configured address during discovery
mbloechli Oct 15, 2026
6b63e0a
fix: name the right slave in AL status messages
mbloechli Oct 15, 2026
870e8de
style: replace tabs in the EthercatBusBase startup doc comment
mbloechli Oct 15, 2026
1509a7b
fix: log the raw discovery result
mbloechli Oct 15, 2026
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4 changes: 2 additions & 2 deletions soem_interface_rsl/include/soem_interface_rsl/EthercatBusBase.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,8 +129,8 @@ class SOEM_RSL_EXPORT EthercatBusBase : private EthercatBusBaseTemplateAdapter {
* Startup the bus communication.
* @param abortFlag during startup it is waited till all the slaves are ready this can take some time, the abortFlag can be set to abort
* this operation.
* @param sizeCheck perform a check of the Rx and Tx Pdo sizes defined in the PdoInfo object of the slaves
* @param maxDiscoverRetries number of retries till the configured number of slaves are found on the bus.
* @param sizeCheck perform a check of the Rx and Tx Pdo sizes defined in the PdoInfo object of the slaves
* @param maxDiscoverRetries number of retries till the configured number of slaves are found on the bus.
* @return True if successful.
*/
bool startup(bool sizeCheck, int maxDiscoverRetries = 10);
Expand Down
69 changes: 42 additions & 27 deletions soem_interface_rsl/src/soem_interface_rsl/EthercatBusBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,12 @@ struct EthercatBusBaseTemplateAdapter::EthercatSlaveBaseImpl {
<< "No socket connection. Execute as root.");
return false;
}
// Addresses are bus positions, and devices without a configured slave (e.g. EtherCAT switch
// ports) take positions too, so the bus is complete once it reaches the highest address.
int requiredDevices = 0;
for (const auto& slave : slaves_) {
requiredDevices = std::max(requiredDevices, static_cast<int>(slave->getAddress()));
}
for (int retry = 0; retry <= maxDiscoverRetries; retry++) {
if (abortFlag) {
MELO_WARN_STREAM("[soem_interface_rsl::" << name_ << "] "
Expand All @@ -123,48 +129,46 @@ struct EthercatBusBaseTemplateAdapter::EthercatSlaveBaseImpl {
return false; // avoid that execution continues.
}

// SWITCH TOPOLOGY FIX: Use >= comparison to support switch topologies
// where infrastructure devices (switches) are included in the total device count
int detected_slaves = ecx_detect_slaves(&ecatContext_);
int expected_slaves = static_cast<int>(slaves_.size());
MELO_ERROR_STREAM("[DEBUG] [" << name_ << "] Detected slaves: " << detected_slaves << ", Expected slaves: " << expected_slaves);
if (detected_slaves >= expected_slaves) {
int detectedDevices = ecx_detect_slaves(&ecatContext_);
if (detectedDevices >= requiredDevices) {
// on some of the older (rsl) anydrives there seems to be a short race between bus is responsive and slave is fully ready...
// so give them this 1 sec to be fully ready to be started...
soem_interface_rsl::threadSleep(1.0);
break;
}
if (retry == maxDiscoverRetries) {
MELO_ERROR_STREAM("[soem_interface_rsl::" << name_ << "] EtherCAT discovery failed: " << detected_slaves << " slave(s) detected (expected >= 1) ");
MELO_ERROR_STREAM("[soem_interface_rsl::" << name_ << "] EtherCAT discovery failed: found " << detectedDevices
<< " device(s), but the highest configured address is " << requiredDevices << ".");
ecx_close(&ecatContext_);
return false;
}
// Sleep and retry.
soem_interface_rsl::threadSleep(ecatConfigRetrySleep_);
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Detected " << detected_slaves
<< " slaves, expected >= " << expected_slaves << ". Retrying ("
<< (retry + 1) << "/" << maxDiscoverRetries << ")...");
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Found " << detectedDevices << " of " << requiredDevices
<< " EtherCAT devices. Retrying (" << (retry + 1) << "/" << maxDiscoverRetries << ")...");
}

// this should now work cleanly, since we're sure that all slaves are started.
int detected_config = ecx_config_init(&ecatContext_, FALSE);
int expected_slaves = static_cast<int>(slaves_.size());
MELO_ERROR_STREAM("[DEBUG] [" << name_ << "] Config init result: " << detected_config << ", Expected slaves: " << expected_slaves);
if (detected_config < expected_slaves) {
int configuredDevices = ecx_config_init(&ecatContext_, FALSE);
if (configuredDevices < requiredDevices) {
ecx_close(&ecatContext_);
MELO_ERROR_STREAM("[soem_interface_rsl::" << name_ << "] "
<< "EtherCAT configuration failed: detected " << detected_config << " device(s), expected >= " << expected_slaves << " device(s).");
MELO_ERROR_STREAM("[soem_interface_rsl::" << name_ << "] EtherCAT configuration failed: found " << configuredDevices
<< " device(s), but the highest configured address is " << requiredDevices << ".");

EthercatBusBase::printAvailableBusses();
return false;
}

int nSlaves = *ecatContext_.slavecount;
// Print the slaves which have been detected.
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] The following " << nSlaves << " slaves have been found and configured:");
// Print the devices which have been detected, marking those no slave is configured for.
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Found " << nSlaves << " EtherCAT devices for " << slaves_.size()
<< " configured slaves:");
for (int slave = 1; slave <= nSlaves; slave++) {
const bool configured = std::any_of(slaves_.begin(), slaves_.end(),
[slave](const auto& s) { return static_cast<int>(s->getAddress()) == slave; });
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Address: " << slave << " - Name: '"
<< std::string(ecatContext_.slavelist[slave].name) << "'");
<< std::string(ecatContext_.slavelist[slave].name) << "'"
<< (configured ? "" : " (no slave configured, e.g. a switch port)"));
}

// Check if the given slave addresses are valid.
Expand Down Expand Up @@ -526,10 +530,10 @@ struct EthercatBusBaseTemplateAdapter::EthercatSlaveBaseImpl {
<< std::setw(8) << std::hex << ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
} else {
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaves_[slave - 1]->getName() << " alStatusCode: 0x"
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaveNameAt(slave) << " alStatusCode: 0x"
<< std::setfill('0') << std::setw(8) << std::hex
<< ecatContext_.slavelist[slave-1].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave-1].ALstatuscode));
<< ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
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}
return false;
}
Expand All @@ -555,10 +559,10 @@ struct EthercatBusBaseTemplateAdapter::EthercatSlaveBaseImpl {
<< std::setw(8) << std::hex << ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
} else {
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaves_[slave - 1]->getName() << " alStatusCode: 0x"
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaveNameAt(slave) << " alStatusCode: 0x"
<< std::setfill('0') << std::setw(8) << std::hex
<< ecatContext_.slavelist[slave-1].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave-1].ALstatuscode));
<< ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
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}
return false;
}
Expand Down Expand Up @@ -589,7 +593,7 @@ struct EthercatBusBaseTemplateAdapter::EthercatSlaveBaseImpl {
<< std::setw(8) << std::hex << ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
} else {
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaves_[slave - 1]->getName() << " alStatusCode: 0x"
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaveNameAt(slave) << " alStatusCode: 0x"
<< std::setfill('0') << std::setw(8) << std::hex
<< ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
Expand Down Expand Up @@ -693,14 +697,25 @@ struct EthercatBusBaseTemplateAdapter::EthercatSlaveBaseImpl {
<< std::setw(8) << std::hex << ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
} else {
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaves_[slave - 1]->getName() << " alStatusCode: 0x"
MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Slave: " << slaveNameAt(slave) << " alStatusCode: 0x"
<< std::setfill('0') << std::setw(8) << std::hex
<< ecatContext_.slavelist[slave].ALstatuscode << " "
<< ec_ALstatuscode2string(ecatContext_.slavelist[slave].ALstatuscode));
}
return false;
}

// Name of the slave configured at a bus address. Addresses are not indices into slaves_, since
// devices without a configured slave (e.g. switch ports) take bus positions too.
std::string slaveNameAt(const uint16_t address) const {
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for (const auto& slave : slaves_) {
if (slave->getAddress() == address) {
return slave->getName();
}
}
return "<no slave configured at address " + std::to_string(address) + ">";
}

std::string getErrorString(ec_errort error) {
std::stringstream stream;
stream << "Time: " << (static_cast<double>(error.Time.sec) + (static_cast<double>(error.Time.usec) / 1000000.0));
Expand Down
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