Master Abstraction hardening + fix missing deps - #239
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…e identity check to the master abstraction The master abstraction (EcMasterBase/EtherlabMaster) dropped several capabilities EcMaster had before the split: a blocking CoE SDO upload (read), public getters for master/domain/slave state, an is_valid() guard, and add_slave()'s vendor/product identity verification against what's actually on the bus. All are restored here at the EcMasterBase interface (as backend-agnostic types with no ecrt.h/IgH dependency) and implemented in EtherlabMaster: - EcMasterBase gains is_valid(), upload_slave_sdo(), get_master_state()/get_domain_state()/get_slave_states(), backed by new portable EcMasterStateInfo/EcDomainStateInfo/EcSlaveStateInfo structs (no ecrt_master_state_t/ec_domain_state_t leakage, so a future non-IgH master plugin isn't tied to these types). - EtherlabMaster::upload_slave_sdo() refuses (logs an error, returns -1) if called while activated_ — this is a blocking mailbox round-trip and must only run during the configure phase (after configure_slaves(), before start()), never while the cyclic process-data loop is running. - EtherlabMaster::add_slave() again refuses to configure a slave whose vendor/product doesn't match what's actually on the bus at that ring position (alias-0 slaves only, addressed by absolute position), instead of silently leaving it unconfigured. - EthercatBusManager's masterState()/domainState()/slaveStates()/ readSlaveSdo() are wired to the new methods; their declared return types (ec_master_state_t/ec_domain_state_t, with no <ecrt.h> in reach from this header) would not have compiled otherwise. Also fixes a pre-existing bug (bus_config_.master_id doesn't exist; the field is master_iface) and drops a dead, already-commented-out SDO config block superseded by EtherlabMaster::configure_slaves().
…hex status logging - Adopts the process_data(int index, ...) rename cleanly (removes the two commented-out old-signature leftovers from the rebase). - Restores targetPositionPassthrough(): extracts the hardcoded "override 0x607a unless CSP" check into an overridable virtual, so a vendor subclass can extend which modes pass the target position through (e.g. an impedance mode that also uses 0x607a as an equilibrium setpoint) without duplicating process_data(). - Logs status_word in hex (matches how it's read/reported everywhere else) instead of decimal.
…driver EthercatBusConfig::master_plugin defaults to "ethercat_master/EtherlabMaster", pluginlib-loaded at runtime, but nothing declared that this package needs to be installed/sourced for the default to resolve.
Port of 771e984 (never carried into EtherlabMaster when it superseded EcMaster). Without ecrt_release_master() the kernel device stays locked after the process exits, preventing re-initialization on restart without unloading the kernel module — critical in multi-master setups.
tpoignonec
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Aug 25, 2026
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ok for me |
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EcMastercould only download/write SDOs, never read one) —new.
logging; exposing it as a queryable API is new).
targetPositionPassthrough()onEcCiA402Drive— the underlying logic existed pre-rewrite,but only inline, hardcoded; extracting it into an overridable virtual hook a vendor subclass
can extend is new.
EtherlabMaster's destructor — this one is a restore: thepre-rewrite
EcMasterdid this (ecrt_release_master()), the rewrite dropped it, leakingthe kernel device on shutdown.
ethercat_master_etherlabruntime dependency inpackage.xml— packaging fix.