fix(SF-33): Исправлены ошибки передачи

components/free_rtos/ethernet_industry/eth_ecat.cpp

@@ -36,7 +36,7 @@ void EthEcat::Init(TEthMacPorts port_id, uint32_t period_microsec = 250) {
 }
 
 bool EthEcat::set_slaves_to_default() {
-    const datagram::TEcatWkc expected_wkc = 0;
+    const datagram::TEcatWkc expected_wkc = 1;
     address::Broadcast broadcast{0x0000};
     bool status;
 

components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp

@@ -14,6 +14,7 @@ namespace telegram {
 const char EcatTelegramStatus::SuccessString[]              = "Success !";
 const char EcatTelegramStatus::BusyString[]                 = "Busy. Transfer in progress...";
 const char EcatTelegramStatus::WarningTransferErrorString[] = "Warning ! Transfer error. Check error counters";
+const char EcatTelegramStatus::WarningTimeoutErrorString[]  = "Warning ! Connection timeout error. Check error counters";
 const char EcatTelegramStatus::WarningWkcErrorString[]      = "Warning ! WKC error. Check error counters";
 const char EcatTelegramStatus::FatalErrorString[]           = "Fatal error ! Transfer attempts exceeded";
 
@@ -21,6 +22,7 @@ const EcatDescription EcatTelegramStatus::descriptions[] = {
                                          {EcatTelegramStatus::SuccessString, sizeof(EcatTelegramStatus::SuccessString)},
                                          {EcatTelegramStatus::BusyString, sizeof(EcatTelegramStatus::BusyString)},
                                          {EcatTelegramStatus::WarningTransferErrorString, sizeof(EcatTelegramStatus::WarningTransferErrorString)},
+                                         {EcatTelegramStatus::WarningTimeoutErrorString, sizeof(EcatTelegramStatus::WarningTimeoutErrorString)},
                                          {EcatTelegramStatus::WarningWkcErrorString, sizeof(EcatTelegramStatus::WarningWkcErrorString)},
                                          {EcatTelegramStatus::FatalErrorString, sizeof(EcatTelegramStatus::FatalErrorString)}
 };
@@ -65,6 +67,10 @@ uint8_t* EcatTelegram::pack(uint8_t *raw) {
     (void)p_eth_hdr;
     (void)p_hdr;
 
+    if(first == nullptr) {
+        return p_datagram_last;
+    }
+
     p_datagram_last = first->pack_all(p_datagram_first);
 
     p_hdr->bits.length = p_datagram_last - p_datagram_first;
@@ -79,6 +85,10 @@ uint8_t* EcatTelegram::unpack(uint8_t *raw) {
     uint8_t *p_datagram_last = p_datagram_first;
     auto first = datagram_queue_.get_first();
 
+    if(first == nullptr) {
+        return p_datagram_last;
+    }
+
     p_datagram_last = first->unpack_all(p_datagram_first);
 
     return p_datagram_last;
@@ -89,6 +99,7 @@ bool EcatTelegram::transfer() {
     uint32_t transfer_attempts = 0;
     bool stat;
     bool as_expected;
+    int status;
 
     if(first == nullptr) {
         status_.result = EcatTelegramResult::SUCCESS;
@@ -96,7 +107,6 @@ bool EcatTelegram::transfer() {
         return true;
     }
 
-    datagram_queue_.clear();
     status_.result = EcatTelegramResult::BUSY;
 
     first->reset_all_wkc();
@@ -125,7 +135,14 @@ bool EcatTelegram::transfer() {
             continue;
         }
 
-        rx_sem_.pend();
+        status = rx_sem_.pend(connection_timeout_ticks_);
+
+        if(status != SystemP_SUCCESS) {
+            status_.transfer_errors++;
+            status_.result = EcatTelegramResult::WARNING_TIMEOUT_ERROR;
+
+            continue;
+        }
 
         as_expected = first->all_as_expected();
 
@@ -143,6 +160,8 @@ bool EcatTelegram::transfer() {
         break;
     }
 
+    datagram_queue_.clear();
+
     return (status_.result != EcatTelegramResult::FATAL_ERROR);
 }
 

components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp

@@ -20,6 +20,7 @@ enum class EcatTelegramResult : uint16_t {
     SUCCESS = 0,
     BUSY,
     WARNING_TRANSFER_ERROR,
+    WARNING_TIMEOUT_ERROR,
     WARNING_WKC_ERROR,
     FATAL_ERROR
 };
@@ -33,7 +34,7 @@ struct EcatTelegramStatus {
     uint16_t transfer_errors;
     uint16_t expected_wkc_errors;
     uint16_t attempts_exceeded_errors;
-    EcatTelegramResult result = EcatTelegramResult::SUCCESS;
+    EcatTelegramResult result = EcatTelegramResult::BUSY;
 
     const EcatDescription& get_description() {
         return descriptions[static_cast<size_t>(result)];
@@ -43,6 +44,7 @@ private:
     static const char SuccessString[];
     static const char BusyString[];
     static const char WarningTransferErrorString[];
+    static const char WarningTimeoutErrorString[];
     static const char WarningWkcErrorString[];
     static const char FatalErrorString[];
 
@@ -72,6 +74,7 @@ public:
     bool transfer(queue::Queue<datagram::IEcatDatagram>& next);
 
 private:
+    static constexpr uint32_t connection_timeout_ticks_ = 2;
     static constexpr uint32_t max_transfer_attempts_ = 3;
 
     Eth& eth_;