Read a drive value before the bus is running, plus master/slave robustness - #233
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JenniferBuehler wants to merge 16 commits into
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Read a drive value before the bus is running, plus master/slave robustness#233JenniferBuehler wants to merge 16 commits into
JenniferBuehler wants to merge 16 commits into
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Call ecrt_release_master() in ~EcMaster() to properly release the kernel EtherCAT master device. Without this, the master remains locked after the process exits, preventing re-initialization on restart without unloading the kernel module. This is especially critical in multi-master setups where multiple EcMaster instances coexist.
…parsed by ros2_control
…splitting bus startup into a "configure-but-don't-run-yet" step and exposing an SDO read that's safe to call in that window.
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Summary
Adds the ability to read from a drive over SDO before the EtherCAT bus goes operational. This happens by splitting bus startup into a "configure but don't run yet" phase and a separate "activate" phase. Also adds robustness to master creation and slave registration.
Main feature: read-before-startup
configureBus()brings the bus to the configured/PRE-OP state (where blocking SDO access is valid) without going operational.activateBus()still takes it to OP and now auto-callsconfigureBus()first if needed.readSlaveSdo(): a blocking SDO read that is safe to call in the configured-but-not-active window (see last point).configureBusLocked()andactivateBusLocked()helpers to avoid recursive mutex locking.Other refinements
EcMasterreleases the master in its destructor (ecrt_release_master), so the master can be re-requested cleanly after teardown.EcMaster::isValid()as new function, and an explicit error if the master isn't created properly.addSlave()now returns success/failure and errors clearly when a slave can't be added.virtual targetPositionPassthrough()so that subclasses can override whether target-position passthrough happens (used by vendor drives that need target position passed through in non-CSP modes).