Merge branch 'add_redundancy'

examples/basic_example.py

@@ -34,8 +34,9 @@ class Device:
 
 
 class BasicExample:
-    def __init__(self, ifname):
+    def __init__(self, ifname, ifname_red):
         self._ifname = ifname
+        self._ifname_red = ifname_red
         self._pd_thread_stop_event = threading.Event()
         self._ch_thread_stop_event = threading.Event()
         self._actual_wkc = 0
@@ -119,7 +120,7 @@ def _pdo_update_loop(self):
             print("stopped")
 
     def run(self):
-        self._master.open(self._ifname)
+        self._master.open(self._ifname, self._ifname_red)
 
         if not self._master.config_init() > 0:
             self._master.close()
@@ -226,10 +227,11 @@ def __init__(self, message):
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(description="Example code for PySOEM.")
     parser.add_argument("iface", type=str, help="ID of the network adapter used.")
+    parser.add_argument("ifname_red", nargs="?", type=str, help="Optional: ID of the second network adapter used (for redundancy).")
     args = parser.parse_args()
 
     try:
-        BasicExample(args.iface).run()
+        BasicExample(args.iface, args.ifname_red).run()
     except BasicExampleError as err:
         print(f"{os.path.basename(__file__)} failed: {err.message}")
         sys.exit(1)

pysoem/cpysoem.pxd

@@ -17,6 +17,7 @@ cdef extern from "ethercat.h":
 
     DEF EC_MAXBUF = 16
     DEF EC_MAXMBX = 1486
+    DEF EC_BUFSIZE = 1518
 
     ec_adaptert* ec_find_adapters()
 
@@ -34,6 +35,8 @@ cdef extern from "ethercat.h":
     ctypedef float               float32
     ctypedef double              float64
     ctypedef uint8               ec_mbxbuft[EC_MAXMBX]
+
+    ctypedef uint8               ec_bufT[EC_BUFSIZE]
 
     ctypedef struct ec_timet:
         uint32 sec
@@ -82,10 +85,21 @@ cdef extern from "ethercat.h":
     # from nicdrv.h
 
     ctypedef struct ec_stackT:
-        pass
+        int     *sock
+        ec_bufT *(*txbuf) #[EC_MAXBUF]
+        int     *(*txbuflength) #[EC_MAXBUF]
+        ec_bufT *tempbuf
+        ec_bufT *(*rxbuf) #[EC_MAXBUF]
+        int     *(*rxbufstat) #[EC_MAXBUF]
+        int     *(*rxsa) #[EC_MAXBUF]
 
     ctypedef struct ecx_redportt:
-        pass
+        ec_stackT stack
+        int       sockhandle
+        ec_bufT   *rxbuf #[EC_MAXBUF]
+        int       *rxbufstat #[EC_MAXBUF]
+        int       *rxsa #[EC_MAXBUF]
+        ec_bufT   tempinbuf
 
     ctypedef struct ecx_portt:
         pass
@@ -285,6 +299,7 @@ cdef extern from "ethercat.h":
         char   **Name #[EC_MAXOELIST][EC_MAXNAME+1]
 
     int ecx_init(ecx_contextt* context, char* ifname)
+    int ecx_init_redundant(ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name)
     void ecx_close(ecx_contextt *context)
     int ecx_config_init(ecx_contextt *context, uint8 usetable)
     int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)

pysoem/pysoem.pyx

@@ -207,17 +207,22 @@ cdef class CdefMaster:
         self._settings.sdo_read_timeout = &self.sdo_read_timeout
         self._settings.sdo_write_timeout = &self.sdo_write_timeout
 
-    def open(self, ifname):
+    def open(self, ifname, ifname_red=None):
         """Initialize and open network interface.
         
         Args:
             ifname(str): Interface name. (see find_adapters)
+            ifname_red(:obj:`str`, optional): Interface name of the second network interface card for redundancy.
+                Put to None if not used.
         
         Raises:
             ConnectionError: When the specified interface dose not exist or
                 you have no permission to open the interface
         """
-        ret_val = cpysoem.ecx_init(&self._ecx_contextt, ifname.encode('utf8'))
+        if ifname_red is None:
+            ret_val = cpysoem.ecx_init(&self._ecx_contextt, ifname.encode('utf8'))
+        else:
+            ret_val = cpysoem.ecx_init_redundant(&self._ecx_contextt, &self._ecx_redport, ifname.encode('utf8'), ifname_red.encode('utf8'))
         if ret_val == 0:
             raise ConnectionError('could not open interface {}'.format(ifname))