cbb
beb33ffe50
18 个文件平铺根目录太乱, 按角色归拢: web/ ecat.html/css + motor.html/js —— 前端资源 diag/ ecat_scan / ecat_sniff / ecat_esc_regs —— 独立诊断脚本, 互不依赖 launch/ 5 个 .bat/.vbs 双击入口 根目录只留 ecat_server / ecat_tool / ecat_flash_eeprom / test_motor_backend: 这几个互相 import(tool→flash_eeprom, test→server), 挪进子目录就得改 import 或加包, 收益不抵成本。 配套改动: _STATIC_MAP 的值加 web/ 前缀 —— URL 路径刻意保持不变(/、/ecat.css、 /motor.html), 页面内相对引用、书签、外部链接一律不用改。 launch/ 里 %~dp0 现在指向 launch\, 五个启动器统一改为先取上一层作 ROOT (bat 用 %~dp0.., vbs 用两次 GetParentFolderName), run_scan 顺带指向 diag\ecat_scan.py。 验证: 7 个 py 全编译通过; test_motor_backend 8 项全通过; 服务实起后 6 条 静态路由全 200 且 MIME 正确(js 是 application/javascript)、404 兜底正常; Edge headless 渲染主页与 motor 页, CSS 294 规则加载、9 个节点样式生效、 零加载失败零 JS 异常; bat/vbs 的 ROOT 解析实测指到项目根, 五个目标文件 全部命中; ecat_tool adapters 与 diag/ecat_scan.py 实跑正常。
93 lines
3.4 KiB
Python
93 lines
3.4 KiB
Python
#!/usr/bin/env python3
|
||
"""抓 SOEM 自己发的 EtherCAT 帧，对照裸帧格式。
|
||
另开 pcap 句柄抓包，同时在同进程里跑 pysoem eeprom_read，hexdump 收发帧。
|
||
用法：ecat_sniff.py [adapter-substr]"""
|
||
import ctypes
|
||
import struct
|
||
import sys
|
||
import threading
|
||
import time
|
||
|
||
import pysoem
|
||
|
||
ECAT = b"\x88\xa4"
|
||
|
||
|
||
class PcapPktHdr(ctypes.Structure):
|
||
_fields_ = [("tv_sec", ctypes.c_long), ("tv_usec", ctypes.c_long),
|
||
("caplen", ctypes.c_uint32), ("len", ctypes.c_uint32)]
|
||
|
||
|
||
def main():
|
||
substr = sys.argv[1] if len(sys.argv) > 1 else "I226"
|
||
adapter = None
|
||
for a in pysoem.find_adapters():
|
||
desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
|
||
if substr.lower() in desc.lower():
|
||
adapter = a
|
||
break
|
||
if adapter is None:
|
||
raise SystemExit("适配器未找到")
|
||
name = adapter.name.decode() if isinstance(adapter.name, bytes) else adapter.name
|
||
|
||
wpcap = ctypes.WinDLL("wpcap.dll")
|
||
wpcap.pcap_open_live.restype = ctypes.c_void_p
|
||
wpcap.pcap_open_live.argtypes = [ctypes.c_char_p] + [ctypes.c_int] * 3 + [ctypes.c_char_p]
|
||
wpcap.pcap_next_ex.restype = ctypes.c_int
|
||
wpcap.pcap_next_ex.argtypes = [ctypes.c_void_p,
|
||
ctypes.POINTER(ctypes.POINTER(PcapPktHdr)),
|
||
ctypes.POINTER(ctypes.POINTER(ctypes.c_ubyte))]
|
||
wpcap.pcap_close.restype = None
|
||
wpcap.pcap_close.argtypes = [ctypes.c_void_p]
|
||
errbuf = ctypes.create_string_buffer(256)
|
||
handle = wpcap.pcap_open_live(name.encode(), 65535, 1, 50, errbuf)
|
||
if not handle:
|
||
raise SystemExit(f"pcap_open_live 失败: {errbuf.value.decode(errors='replace')}")
|
||
|
||
def soem_work():
|
||
try:
|
||
master = pysoem.Master()
|
||
master.open(adapter.name)
|
||
master.config_init()
|
||
slave = master.slaves[0]
|
||
slave.eeprom_read(0)
|
||
master.close()
|
||
except Exception as e:
|
||
print(f"soem_work: {type(e).__name__}: {e}")
|
||
|
||
t = threading.Thread(target=soem_work, daemon=True)
|
||
t.start()
|
||
|
||
frames = []
|
||
deadline = time.time() + 4.0
|
||
ph = ctypes.POINTER(PcapPktHdr)()
|
||
pd = ctypes.POINTER(ctypes.c_ubyte)()
|
||
while time.time() < deadline and len(frames) < 8:
|
||
r = wpcap.pcap_next_ex(handle, ctypes.byref(ph), ctypes.byref(pd))
|
||
if r != 1:
|
||
continue
|
||
data = bytes(bytearray(pd[:ph.contents.caplen]))
|
||
if len(data) >= 14 and data[12:14] == ECAT:
|
||
frames.append(data)
|
||
wpcap.pcap_close(handle)
|
||
|
||
print(f"抓到 {len(frames)} 个 EtherCAT 帧")
|
||
for i, f in enumerate(frames):
|
||
src = ":".join(f"{b:02X}" for b in f[6:12])
|
||
print(f"\n[{i}] len={len(f)} src={src}")
|
||
for off in range(14, min(len(f), 14 + 48), 16):
|
||
chunk = f[off:off + 16]
|
||
print(f" +{off - 14:02d}: " + " ".join(f"{b:02X}" for b in chunk))
|
||
# 解析前两个 datagram 头字段，确定头部布局
|
||
elen = struct.unpack_from("<H", f, 14)[0] & 0x7FF
|
||
print(f" ecat_hdr.len={elen} type={struct.unpack_from('<H', f, 14)[0] >> 12}")
|
||
d = f[16:]
|
||
if len(d) >= 12:
|
||
cmd, idx, adp, ado, ln = struct.unpack_from("<BBHHH", d, 0)
|
||
print(f" dgram: cmd=0x{cmd:02X} idx={idx} adp=0x{adp:04X} "
|
||
f"ado=0x{ado:04X} len_field={ln} (len={ln & 0x7FF})")
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main()
|