EtherCAT.Simulator.Slave.Definition (ethercat v0.5.0)

Public authored definition for a simulated EtherCAT slave.

A definition describes the high-level device identity, process-data layout, mailbox/object-dictionary capabilities, and behavior module. Derived low-level ESC state such as EEPROM contents and register memory is hydrated internally by the simulator runtime and is not part of this public type.

Summary

Types

mailbox_config()

Mailbox SM layout declared by the simulated device.

pdo_entry()

signal_spec()

t()

High-level, authored simulator device definition.

Functions

build(profile, opts \\ [])

Build a simulated device from profile defaults and explicit overrides.

from_driver(driver, config, adapter)

Types

mailbox_config()

@type mailbox_config() :: %{
  recv_offset: non_neg_integer(),
  recv_size: non_neg_integer(),
  send_offset: non_neg_integer(),
  send_size: non_neg_integer()
}

Mailbox SM layout declared by the simulated device.

pdo_entry()

@type pdo_entry() :: EtherCAT.Driver.PDO.t()

signal_spec()

@type signal_spec() :: %{
  :direction => :input | :output,
  :pdo_index => non_neg_integer(),
  :bit_offset => non_neg_integer(),
  :bit_size => pos_integer(),
  :type => atom(),
  :label => binary(),
  :group => atom(),
  optional(:scale) => number(),
  optional(:unit) => binary()
}

t()

@type t() :: %EtherCAT.Simulator.Slave.Definition{
  behavior: module(),
  dc_capable?: boolean(),
  esc_type: byte(),
  fmmu_count: pos_integer(),
  input_phys: non_neg_integer(),
  input_size: non_neg_integer(),
  mailbox_config: mailbox_config(),
  mirror_output_to_input?: boolean(),
  name: atom(),
  objects: map(),
  output_phys: non_neg_integer(),
  output_size: non_neg_integer(),
  pdo_entries: [pdo_entry()],
  product_code: non_neg_integer(),
  profile: atom(),
  revision: non_neg_integer(),
  serial_number: non_neg_integer(),
  signals: %{optional(atom()) => signal_spec()},
  sm_count: pos_integer(),
  vendor_id: non_neg_integer()
}

High-level, authored simulator device definition.

Functions

build(profile, opts \\ [])

@spec build(atom(), keyword()) :: t()

Build a simulated device from profile defaults and explicit overrides.

Profiles are :coupler, :digital_io, :mailbox_device, :lan9252_demo, :analog_io, :temperature_input, and :servo_drive. Pass :name to distinguish devices in a segment. Other options override identity, PDOs, signals, mailbox objects, behavior, and the authored fields described by t/0.

For example, this creates a synthetic one-byte output/input image with loopback:

EtherCAT.Simulator.Slave.Definition.build(:digital_io, name: :io)

A channel-oriented input fixture can instead use:

EtherCAT.Simulator.Slave.Definition.build(:digital_io,
  name: :inputs, mode: :channels, direction: :input, channels: 8
)

These are protocol fixtures, not proof of a vendor device's behavior. When a real driver has a simulator companion, prefer EtherCAT.Simulator.Slave.from_driver/2 to keep its identity defaults aligned.

from_driver(driver, config, adapter)

@spec from_driver(module(), map(), module()) :: t()