soempp_pdo_remapping_test.cc File Reference

#include <gtest/gtest.h>
#include <chrono>
#include <thread>
#include "loguru.h"
#include "soempp.h"

Include dependency graph for soempp_pdo_remapping_test.cc:

Functions
std::unique_ptr< soempp::Master >	initMaster (const std::string &iface)
	Initializes the SOEM master and prepares all connected slaves for operation. More...
	TEST (SomeppPdoRemappingTestSuite, CirculoInitMasterTest)
	TEST (SoemppPdoRemappingTestSuite, CirculoFailsSdoReadAfterSecondCallToEcxConfigMapGroupTest)
	TEST (SoemppPdoRemappingTestSuite, InitialPdoMappingTest)
	TEST (SoemppPdoRemappingTestSuite, PdoRemappingTest)
	TEST (SomeppPdoRemappingTestSuite, IntegroNoInitialPdoMappingFromMasterSideTest)
	TEST (SoemppPdoRemappingTestSuite, PdoRemapAndReinitFieldbusTest)

Variables
const std::string	kIface
const size_t	kRxPdoCount = 11
const size_t	kTxPdoCount = 16
const int32_t	kObytes = 35
const int32_t	kIbytes = 47

Function Documentation

initMaster()

std::unique_ptr< soempp::Master > initMaster

(

const std::string &

iface

)

Initializes the SOEM master and prepares all connected slaves for operation.

This function creates a SOEM master instance using the specified network interface (iface), initializes all connected slaves, and brings each slave through the required EtherCAT states (BOOT, INIT, PRE-OP). It then loads parameter definitions, updates and logs the PDO mappings, and configures the PDO mapping to transition slaves to the OPERATIONAL state.

The function performs the following steps:

• Creates a SOEM master using the provided network interface (iface).
• Initializes all connected slaves.
• For each slave:
  • Resets firmware and transitions the slave state from BOOT to INIT to PRE-OP sequentially.
  • Loads parameter definitions (without reading values).
  • Reads and logs the initial PDO mappings from the device.
• Configures PDO mapping and brings all slaves to the OPERATIONAL state.
• Verifies the operational state of all slaves.

Parameters

iface

The network interface to be used for initializing the SOEM master (e.g., "eth0").

Returns

A std::unique_ptr to the fully initialized soempp::Master object.

TEST() [1/6]

TEST	(	SoemppPdoRemappingTestSuite	,
		CirculoFailsSdoReadAfterSecondCallToEcxConfigMapGroupTest
	)

TEST() [2/6]

TEST	(	SoemppPdoRemappingTestSuite	,
		InitialPdoMappingTest
	)

TEST() [3/6]

TEST	(	SoemppPdoRemappingTestSuite	,
		PdoRemapAndReinitFieldbusTest
	)

This test verifies PDO remapping by destroying and reinitializing the master. It ensures that remapping persists and functions correctly after a full fieldbus reset.

TEST() [4/6]

TEST	(	SoemppPdoRemappingTestSuite	,
		PdoRemappingTest
	)

This test verifies PDO remapping by adding the Core and Drive temperature entries to the TxPDO objects:

• Core temperature (0x20300120) is added to 0x1A02:02.
• Drive temperature (0x20310120) is added to 0x1A03:06.

Behavior on different devices:

• Circulo: Core temperature updates correctly; Drive temperature remains 0.
• Integro: Neither temperature updates; both remain 0.

TEST() [5/6]

TEST	(	SomeppPdoRemappingTestSuite	,
		CirculoInitMasterTest
	)

TEST() [6/6]

TEST	(	SomeppPdoRemappingTestSuite	,
		IntegroNoInitialPdoMappingFromMasterSideTest
	)

Integro devices do not include an initial PDO mapping, even though the SoC defines a default one. Therefore, when using Integro devices, the master MUST explicitly configure the initial PDO mapping; otherwise, all values will default to zero. This should be addressed by the SOMANET Software team to ensure that the initially read PDO mapping is correct.

Variable Documentation

kIbytes

const int32_t kIbytes = 47

kIface

const std::string kIface

Initial value:

=
    "\\Device\\NPF_{34C565DE-B76B-4DFF-8823-8C93BB33098C}"

kObytes

const int32_t kObytes = 35

kRxPdoCount

const size_t kRxPdoCount = 11

kTxPdoCount

const size_t kTxPdoCount = 16