Hello Chris,
I found some time to do some testing and successfully read out a EtherCAT CoE SDO parameter.
Here is the access from the Web UI of the Data Layer:
Here you can see the FlatBuffer Schema of an SDO:
include "addresstype.fbs";
namespace comm.ethercat.master.fbs;
enum SDOFlags: uint32 (bit_flags)
{
noFlags = 0,
completeAccess = 1,
}
table SDORequest
{
addressType: Addresstype;
address: uint16;
objectIndex: uint16;
subIndex: uint8;
flags: SDOFlags;
data: [uint8];
maxLength: uint32;
}
table SDOResponse
{
data: [uint8];
}
table SDO
{
request: SDORequest;
response: SDOResponse;
}
root_type SDO;
Here I read the same SDO Parameter in C++ and printed out the response to the console:
//_result is DlResult
//_data is Variant
//_client is IClient
flatbuffers::FlatBufferBuilder builder;
//build SDORequest
auto requestSDO = comm::ethercat::master::fbs::CreateSDORequest(builder,
comm::ethercat::master::fbs::Addresstype::Addresstype_fixedphysical,
1001,
12403,
1,
comm::ethercat::master::fbs::SDOFlags::SDOFlags_noFlags
);
builder.ForceDefaults(true);
builder.Finish(requestSDO);
//Build SDOResponse
std::vector<uint8_t> data;
data.resize(2);
auto responseData = builder.CreateVector<uint8_t>(data);
auto responseSDO = comm::ethercat::master::fbs::CreateSDOResponse(builder, responseData);
builder.ForceDefaults(true);
builder.Finish(responseSDO);
//Build SDO
auto sdo = comm::ethercat::master::fbs::CreateSDO(builder, requestSDO, responseSDO);
builder.ForceDefaults(true);
builder.Finish(sdo);
//share Flatbuffer to Variant
_result = _data.shareFlatbuffers(builder);
std::cout<<"_data.shareFlatbuffers(builder) "<< _result.toString()<<std::endl;
//use a data layer client to do the actual reading
_result =_client->readSync("fieldbuses/ethercat/master/instances/ethercatmaster/device_access/coe/sdo", &_data);
std::cout<<"_client->readSync(...) "<< _result.toString()<<std::endl;
if(_result == comm::datalayer::DlResult::DL_OK){
_result = _data.verifyFlatbuffers(comm::ethercat::master::fbs::VerifySDOBuffer);
std::cout<<"verifyFlatbuffers: "<<_result.toString()<<std::endl;
if (_result == comm::datalayer::DlResult::DL_OK)
{
auto buffer = _data.getData();
auto sdoValue= comm::ethercat::master::fbs::GetSDO(buffer);
auto sdoValueResponse = sdoValue->response();
auto sdoValueResponseData = sdoValueResponse->data();
auto length = sdoValueResponseData->Length();
for(uint32_t i = 0; i<length; i++){
std::cout<<"Response Data Byte" << i <<": "<<int(sdoValueResponseData->Get(i))<<std::endl;
}
}
}
The output in the console is:
_data.shareFlatbuffers(builder) DL_OK
_client->readSync(...) DL_OK
verifyFlatbuffers: DL_OK
Response Data Byte0: 1
Response Data Byte1: 96
Sorry for the late reply. I hope this (not optimized) code snippet can help you out.
Best regards,
Nick
Hi Nick,
we successfully updated our ctrlX to 1.14:
The read via the web ui still works as expected:
But with the same code snippet as above (built with the SDK v1.14) the read still returns a DL_TYPE_MISMATCH.
Can you double check that the versions of our installed apps are compatible?
The only difference (we can see) between your and our setup are the different Ethercat devices and maybe a slightly different build environment.
What would be the next steps to find a solution?
Best regards
Chris