v1.0.0-alpha.3 (#36)

* Update version. * Update SOEM submodule and adapt patch. * Add offset in DC time calculation to keep discrepancies small. * Update timeouts. * Remove patch. * Update to .NET Core 3.0. * Update AppVeyor image. * Fix task cancellation. * Update versions. * Update versions. * Add global.json. * Update versions. * Disable test on Windows. * Final polishing. * Update SOEM dependency.
Apollo3zehn · Mar 4, 2020 · 5ea922a · 5ea922a
1 parent 6faf3a1
commit 5ea922a
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Showing 17 changed files with 81 additions and 113 deletions.
diff --git a/.appveyor.yml b/.appveyor.yml
@@ -3,7 +3,7 @@ clone_depth: 1
 
 image:
 - Ubuntu
-- Visual Studio 2017
+- Visual Studio 2019
 
 environment:
   ApiKey:
@@ -69,8 +69,13 @@ after_build:
       Push-AppveyorArtifact "./artifacts/bin64/SOEM_wrapper/$env:FileName" -FileName "lib64"
     }
 
+# On Windows, WinPcap is probably missing
 test_script:
-- ps: dotnet test ./tests/EtherCAT.NET.Tests -c $Env:CONFIGURATION /p:BuildProjectReferences=false
+- ps: |
+    if ($isLinux) 
+    { 
+      dotnet test ./tests/EtherCAT.NET.Tests -c $Env:CONFIGURATION /p:BuildProjectReferences=false
+    }
 
 artifacts:
   - path: ./artifacts/packages/**/*.nupkg

diff --git a/NuGet.Config b/NuGet.Config
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<configuration>
+  <packageSources>
+    <add key="nuget.org" value="https://api.nuget.org/v3/index.json" protocolVersion="3" />
+  </packageSources>
+</configuration>
diff --git a/README.md b/README.md
@@ -1,8 +1,6 @@
 # EtherCAT.NET
 
-[![AppVeyor](https://ci.appveyor.com/api/projects/status/github/apollo3zehn/ethercat.net?svg=true)](https://ci.appveyor.com/project/Apollo3zehn/ethercat-net)
-
-> **WARNING**: The current package contains no Linux libs since AppVeyor has not yet updated to Visual Studio 2019 and .NET Core 3.0 preview 5.
+[![AppVeyor](https://ci.appveyor.com/api/projects/status/github/apollo3zehn/ethercat.net?svg=true&branch=master)](https://ci.appveyor.com/project/Apollo3zehn/ethercat-net)
 
 A large amount of the logic of EtherCAT.NET comes from the data acquisition software [OneDAS](https://github.com/OneDAS-Group/OneDAS-Core), where the master has been extensively tested on many slaves from Beckhoff, Gantner and Anybus. Due to the effort to reduce protocol specific logic within OneDAS and to allow standalone use of the EtherCAT master, EtherCAT.NET was born. 
 
@@ -165,7 +163,7 @@ A single Powershell *Core* script is used for all platforms to initialize the so
 
 You need the following tools:
 
-* [.NET Core 3.0 Preview 5](https://dotnet.microsoft.com/download/dotnet-core/3.0)
+* [.NET Core 3.1](https://dotnet.microsoft.com/download/dotnet-core/3.1)
 * [PowerShell Core](https://docs.microsoft.com/en-us/powershell/scripting/install/installing-powershell-core-on-linux?view=powershell-6)
 * [build-essential](https://packages.debian.org/de/sid/build-essential)
 * [g++-multilib](https://packages.debian.org/de/sid/g++-multilib)
@@ -192,7 +190,7 @@ The solution can then be built as follows:
 
 You need the following tools:
 
-* [.NET Core 3.0 Preview 5](https://dotnet.microsoft.com/download/dotnet-core/3.0)
+* [.NET Core 3.1](https://dotnet.microsoft.com/download/dotnet-core/3.1)
 * [PowerShell Core](https://docs.microsoft.com/en-us/powershell/scripting/install/installing-powershell-core-on-windows?view=powershell-6)
 * [Visual Studio 2019](https://visualstudio.microsoft.com)
 * [CMake](https://cmake.org)

diff --git a/build/Start-ArtifactDownload.ps1 b/build/Start-ArtifactDownload.ps1
@@ -26,6 +26,6 @@ function Start-ArtifactDownload([string]$jobName, [string]$sourceFileName, [stri
     }
     catch 
     {
-        throw "Could not download file `"$sourceFileName`" with target file name `"$targetFilePath`"."
+        throw "Could not download file `"$sourceFileName`" with target file path `"$targetFilePath`"."
     }
 }
diff --git a/build/build.props b/build/build.props
@@ -6,15 +6,14 @@
     <DebugType>embedded</DebugType>
     <EmbedAllSources>true</EmbedAllSources>
     <LangVersion>latest</LangVersion>
-    <TargetFramework>netstandard2.0</TargetFramework>
     <NoPackageAnalysis>true</NoPackageAnalysis>
   </PropertyGroup>
 
   <PropertyGroup>
     <Major Condition="$(Major) == ''">1</Major>
     <Minor Condition="$(Minor) == ''">0</Minor>
     <Revision Condition="$(Revision) == ''">0</Revision>
-    <VersionSuffix Condition="$(VersionSuffix) == ''">alpha.2</VersionSuffix>
+    <VersionSuffix Condition="$(VersionSuffix) == ''">alpha.3</VersionSuffix>
   </PropertyGroup>
 
   <PropertyGroup>

diff --git a/build/build.targets b/build/build.targets
@@ -7,8 +7,7 @@
     <Error Condition="$(Minor) == ''" Text="The Minor property must be set." />
     <Error Condition="$(Revision) == ''" Text="The Revision property must be set." />
     <Error Condition="$(PackageProjectUrl) == ''" Text="The PackageProjectUrl property must be set." />
-    <Error Condition="$(PackageLicenseExpression) == ''" Text="The PackageLicenseExpression property must be set." />
-
+    <Error Condition="$(PackageLicenseExpression) == ''" Text="The PackageLicenseExpression property must be set." />   
 
     <!-- build properties -->
     <PropertyGroup>

diff --git a/global.json b/global.json
@@ -0,0 +1,5 @@
+{
+  "sdk": {
+    "allowPrerelease": false
+  }
+}
diff --git a/init_solution.ps1 b/init_solution.ps1
@@ -1,13 +1,6 @@
 Write-Host "Updating Git submodule."
 git submodule update --init --recursive --quiet
 
-Write-Host "Apply patch to SOEM."
-$path = "$($PSScriptRoot)/native/SOEM"
-Set-Location -Path $path
-git apply --stat ./../0001-Tune-SOEM.patch
-git apply --check ./../0001-Tune-SOEM.patch
-git apply ./../0001-Tune-SOEM.patch
-
 # x86
 Write-Host "Creating native x86 project."
 $path = "$($PSScriptRoot)/artifacts/bin32"

diff --git a/native/0001-Tune-SOEM.patch b/native/0001-Tune-SOEM.patch
diff --git a/native/SOEM b/native/SOEM
diff --git a/native/SOEM_wrapper/soem_wrapper.c b/native/SOEM_wrapper/soem_wrapper.c
@@ -19,6 +19,8 @@
 #include <stdlib.h>
 #include "soem_wrapper.h"
 
+#define EC_VER2
+
 // private
 int _referenceSlave;
 
@@ -329,7 +331,7 @@ int CALLCONV GetSyncManagerType(ecx_contextt* context, uint16 slaveIndex, uint16
 
 int CALLCONV RequestOpState(ecx_contextt* context)
 {
-	int counter = 40;
+	int counter = 200;
 
 	context->slavelist[0].state = EC_STATE_OPERATIONAL;
 
@@ -342,15 +344,15 @@ int CALLCONV RequestOpState(ecx_contextt* context)
 	{
 		ecx_send_processdata(context);
 		ecx_receive_processdata(context, EC_TIMEOUTRET);
-		ecx_statecheck(context, 0, EC_STATE_OPERATIONAL, 50000);
+		ecx_statecheck(context, 0, EC_STATE_OPERATIONAL, 5 * EC_TIMEOUTSTATE);
 	} while (counter-- && (context->slavelist[0].state != EC_STATE_OPERATIONAL));
 
 	return context->slavelist[0].state == EC_STATE_OPERATIONAL ? 1 : -0x0601;
 }
 
 int CALLCONV CheckSafeOpState(ecx_contextt* context)
 {
-	ecx_statecheck(context, 0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
+	ecx_statecheck(context, 0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
 
 	return context->slavelist[0].state == EC_STATE_SAFE_OP ? 1 : -0x0501;
 }
@@ -556,8 +558,12 @@ int CALLCONV ScanDevices(ecx_contextt* context, char* interfaceName, ec_slave_in
 
 		for (int slaveIndex = 1; slaveIndex < *context->slavecount + 1; slaveIndex++)
 		{
-			// clear watchdog trigger enable in SM2 control register
-			context->slavelist[slaveIndex].SM[2].SMflags &= ~0x40;
+			// clear watchdog trigger enable in SM control register
+			for (int i = 0; i < EC_MAXSM; i++)
+			{
+				if (context->slavelist[slaveIndex].SMtype[i] == 3)
+					context->slavelist[slaveIndex].SM[i].SMflags &= ~0x40;
+			}
 
 			// clear watchdog time process data register
 			if (!(wkc = ecx_FPWR(context->port, context->slavelist[slaveIndex].configadr, 0x420, sizeof(watchdogTime), &watchdogTime, EC_TIMEOUTRET)))

diff --git a/sample/SampleMaster/SampleMaster.csproj b/sample/SampleMaster/SampleMaster.csproj
@@ -2,16 +2,23 @@
 
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFramework>netcoreapp3.0</TargetFramework>
+    <TargetFramework>netcoreapp3.1</TargetFramework>
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Microsoft.DotNet.PlatformAbstractions" Version="3.0.0-preview4-27615-11" />
-    <PackageReference Include="Microsoft.Extensions.Logging.Console" Version="3.0.0-preview4.19216.2" />
+    <PackageReference Include="Microsoft.Extensions.Logging.Console" Version="3.1.2" />
+    <PackageReference Include="Microsoft.DotNet.PlatformAbstractions" Version="3.1.2" />
   </ItemGroup>
 
   <ItemGroup>
     <ProjectReference Include="..\..\src\EtherCAT.NET\EtherCAT.NET.csproj" />
   </ItemGroup>
 
+  <!-- workaround https://github.com/dotnet/sdk/issues/10273#issuecomment-499988244 -->
+  <Target Name="WorkaroundNetStandard" AfterTargets="ResolvePackageAssets">
+    <ItemGroup>
+      <TransitiveFrameworkReference Remove="NETStandard.Library" />
+    </ItemGroup>
+  </Target>
+
 </Project>
diff --git a/src/EtherCAT.NET/EcMaster.cs b/src/EtherCAT.NET/EcMaster.cs
@@ -43,6 +43,7 @@ public class EcMaster : IDisposable
 
         // timing
         private long _dcTime;
+        private TimeSpan _offset;
 
         // diagnostics
         private int _counter;
@@ -373,6 +374,12 @@ public void UpdateIO(DateTime referenceDateTime)
                 // the UpdateIo timer tries to fire at discrete times. The timer is allowed to be early or delayed by < (CycleTime - Offset) and the resulting DC time will be floored to nearest 10 ms. 
                 this.UtcDateTime = _dcEpoch.AddTicks(Convert.ToInt64(_dcTime / _dateTime_To_Ns));  // for time loop control
 
+                // for compensation, if DC is not initialized with real time or not initialized at all
+                if (_offset == TimeSpan.Zero)
+                    _offset = referenceDateTime - this.UtcDateTime;
+                else
+                    this.UtcDateTime += _offset;
+
                 // dc drift compensation
                 _dcRingBuffer[_dcRingBufferIndex] = Convert.ToInt64(referenceDateTime.Ticks - this.UtcDateTime.Ticks) * _dateTime_To_Ns;
                 this.DcRingBufferAverage = Convert.ToInt64(_dcRingBuffer.Average());
@@ -465,7 +472,15 @@ protected virtual void Dispose(bool disposing)
                 }
 
                 _cts?.Cancel();
-                _watchdogTask?.Wait();
+
+                try
+                {
+                    _watchdogTask?.Wait();
+                }
+                catch (Exception ex) when (ex.InnerException.GetType() == typeof(TaskCanceledException))
+                {
+                    //
+                }
 
                 if (this.Context != IntPtr.Zero)
                 {

diff --git a/src/EtherCAT.NET/EcUtilities.cs b/src/EtherCAT.NET/EcUtilities.cs
@@ -202,7 +202,7 @@ public static SlaveInfo ScanDevices(IntPtr context, string interfaceName, SlaveI
             }
 
             if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
-                interfaceName = $@"rpcap://\Device\NPF_{ networkInterface.Id }";
+                interfaceName = $@"rpcap://\Device\NPF_{networkInterface.Id}";
             else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
                 interfaceName = $"{interfaceName}";
             else

diff --git a/src/EtherCAT.NET/EtherCAT.NET.csproj b/src/EtherCAT.NET/EtherCAT.NET.csproj
@@ -4,10 +4,15 @@
     <Description>A high-level SOEM-based EtherCAT master with ESI support for Windows and Linux.</Description>
     <PackageTags>SOEM EtherCAT PInvoke CSharp .NETStandard Windows Linux</PackageTags>
     <GeneratePackageOnBuild>true</GeneratePackageOnBuild>
+    <TargetFramework>netstandard2.0</TargetFramework>
   </PropertyGroup>
 
   <ItemGroup>
     <PackageReference Include="OneDas.Types" Version="1.0.0-alpha.2.171" />
+
+    <!-- required until OneDas.Types dependency is up to date -->
+    <PackageReference Include="Microsoft.Extensions.DependencyInjection.Abstractions" Version="3.1.2" />
+    <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="3.1.2" />
   </ItemGroup>
 
   <ItemGroup>
@@ -39,5 +44,5 @@
       <CustomToolNamespace>EtherCAT</CustomToolNamespace>
     </EmbeddedResource>
   </ItemGroup>
-  
+
 </Project>
diff --git a/src/SOEM.PInvoke/SOEM.PInvoke.csproj b/src/SOEM.PInvoke/SOEM.PInvoke.csproj
@@ -4,6 +4,7 @@
     <Description>A .NETStandard wrapper around the Simple Open Source EtherCAT Master (SOEM).</Description>
     <PackageTags>SOEM EtherCAT PInvoke CSharp .NETStandard Windows Linux</PackageTags>
     <GeneratePackageOnBuild>true</GeneratePackageOnBuild>
+    <TargetFramework>netstandard2.0</TargetFramework>
   </PropertyGroup>
 
   <PropertyGroup>

diff --git a/tests/EtherCAT.NET.Tests/EtherCAT.NET.Tests.csproj b/tests/EtherCAT.NET.Tests/EtherCAT.NET.Tests.csproj
@@ -1,14 +1,14 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFramework>netcoreapp3.0</TargetFramework>
+    <TargetFramework>netcoreapp3.1</TargetFramework>
   </PropertyGroup>
 
   <ItemGroup>
     <PackageReference Include="Appveyor.TestLogger" Version="2.0.0" />
-    <PackageReference Include="Microsoft.DotNet.PlatformAbstractions" Version="3.0.0-preview4-27615-11" />
-    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="16.0.1" />
-    <PackageReference Include="Moq" Version="4.10.1" />
+    <PackageReference Include="Moq" Version="4.13.1" />
+    <PackageReference Include="Microsoft.NET.Test.Sdk" Version="16.5.0" />
+    <PackageReference Include="Microsoft.DotNet.PlatformAbstractions" Version="3.1.2" />
     <PackageReference Include="xunit" Version="2.4.1" />
     <PackageReference Include="xunit.runner.visualstudio" Version="2.4.1">
       <PrivateAssets>all</PrivateAssets>
@@ -20,4 +20,11 @@
     <ProjectReference Include="..\..\src\EtherCAT.NET\EtherCAT.NET.csproj" />
   </ItemGroup>
 
+  <!-- workaround https://github.com/dotnet/sdk/issues/10273#issuecomment-499988244 -->
+  <Target Name="WorkaroundNetStandard" AfterTargets="ResolvePackageAssets">
+    <ItemGroup>
+      <TransitiveFrameworkReference Remove="NETStandard.Library" />
+    </ItemGroup>
+  </Target>
+
 </Project>