Merge pull request #10 from marcfir/master

Enhance CMAKE and restructure hw_open()

CMakeLists.txt

@@ -4,7 +4,7 @@ string(REGEX MATCH "VERSION = ([0-9]*.[0-9]*.[0-9]*)" _ ${PROJECT_PROPERTIES})
 set(PROJECT_VERSION ${CMAKE_MATCH_1})
 project(libethercat VERSION ${PROJECT_VERSION})
 
-set(ECAT_DEVICE "sock_raw" CACHE STRING "EtherCAT device layer")
+set(ECAT_DEVICE "sock_raw" CACHE STRING "EtherCAT device layer as `;` separated list")
 
 include(CheckIncludeFiles)
 include(CheckSymbolExists)
@@ -39,6 +39,7 @@ check_include_files("memory.h" LIBETHERCAT_HAVE_MEMORY_H)
 check_symbol_exists("memset" "string.h" LIBETHERCAT_HAVE_MALLOC)
 check_include_files("net/bpf.h" LIBETHERCAT_HAVE_NET_BPF_H)
 check_include_files("net/if.h" LIBETHERCAT_HAVE_NET_IF_H)
+check_include_files("netinet/in.h" LIBETHERCAT_HAVE_NETINET_IN_H)
 check_include_files("pthread.h" LIBETHERCAT_HAVE_PTHREAD)
 list(APPEND CMAKE_REQUIRED_DEFINITIONS -D_GNU_SOURCE)
 check_symbol_exists("pthread_setaffinity_np" "pthread.h" LIBETHERCAT_HAVE_PTHREAD_SETAFFINITY_NP)
@@ -85,20 +86,35 @@ set(SRC_ETHERCAT
     src/slave.c
     src/soe.c)
 
-if (${ECAT_DEVICE} STREQUAL "sock_raw")
-    set(SRC_HW_LAYER src/hw_sock_raw.c)
+list(FIND ECAT_DEVICE "sock_raw" HAS_SOCK_RAW)
+list(FIND ECAT_DEVICE "sock_raw_mmaped" HAS_SOCK_RAW_MMAPED)
+list(FIND ECAT_DEVICE "file" HAS_SOCK_FILE)
+list(FIND ECAT_DEVICE "pikeos" HAS_SOCK_PIKEOS)
+list(FIND ECAT_DEVICE "bpf" HAS_SOCK_BPF)
+
+if (${HAS_SOCK_RAW} GREATER -1)
+    message("Include device sock_raw")
+    list(APPEND SRC_HW_LAYER src/hw_sock_raw.c)
     add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY)
-elseif (${ECAT_DEVICE} STREQUAL "sock_raw_mmaped")
-    set(SRC_HW_LAYER src/hw_file.c)
+endif()
+if (${HAS_SOCK_RAW_MMAPED} GREATER -1)
+    message("Include device sock_raw_mmaped")
+    list(APPEND SRC_HW_LAYER src/hw_sock_raw_mmaped.c)
     add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED)
-elseif (${ECAT_DEVICE} STREQUAL "file")
-    set(SRC_HW_LAYER src/hw_file.c)
+endif()
+if (${HAS_SOCK_FILE} GREATER -1)
+    message("Include device file")
+    list(APPEND SRC_HW_LAYER src/hw_file.c)
     add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_FILE)
-elseif (${ECAT_DEVICE} STREQUAL "pikeos")
-    set(SRC_HW_LAYER src/hw_pikeos.c)
+endif()
+if (${HAS_SOCK_PIKEOS} GREATER -1)
+    message("Include device pikeos")
+    list(APPEND SRC_HW_LAYER src/hw_pikeos.c)
     add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_PIKEOS)
-elseif (${ECAT_DEVICE} STREQUAL "bpf")
-    set(SRC_HW_LAYER src/hw_bpf.c)
+endif()
+if (${HAS_SOCK_BPF} GREATER -1)
+    message("Include device bpf")
+    list(APPEND SRC_HW_LAYER src/hw_bpf.c)
     add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_BPD)
 endif()
 

README.md

@@ -68,7 +68,8 @@ This will build and install a static as well as a dynamic library. For use in ot
 mkdir build
 cd build
 # Please change the path to the install dir. If you chose a global install you can omit the CMAKE_PREFIX_PATH option
-cmake .. -DCMAKE_PREFIX_PATH=<installdir of libosal>
+# You can specify which EtherCAT devices should be included into the build with -DECAT_DEVICE="sock_raw;sock_raw_mmaped;..."
+cmake .. -DCMAKE_PREFIX_PATH=<installdir of libosal> -DECAT_DEVICE="sock_raw;sock_raw_mmaped"
 cmake --build . 
 ```
 

cmake/cmake_config.h.in

@@ -38,6 +38,9 @@
 /* Define to 1 if you have the <net/if.h> header file. */
 #cmakedefine LIBETHERCAT_HAVE_NET_IF_H ${LIBETHERCAT_HAVE_NET_IF_H}
 
+/* Define to 1 if you have the <netinet/in.h> header file. */
+#cmakedefine LIBETHERCAT_HAVE_NETINET_IN_H ${LIBETHERCAT_HAVE_NETINET_IN_H}
+
 /* Define if you have POSIX threads libraries and header files. */
 #cmakedefine LIBETHERCAT_HAVE_PTHREAD ${LIBETHERCAT_HAVE_PTHREAD}
 

src/hw.c

@@ -123,44 +123,41 @@ int hw_open(hw_t *phw, struct ec *pec, const osal_char_t *devname, int prio, int
 
         ec_log(10, "HW_OPEN", "Opening interface as device file: %s\n", ifname);
         ret = hw_device_file_open(phw, ifname);
-    } else 
+    }
 #endif
-    {
 #if LIBETHERCAT_BUILD_DEVICE_BPF == 1
-        if (strncmp(ifname, "bpf:", 4) == 0) {
-            ifname = &ifname[4];
+    if (strncmp(ifname, "bpf:", 4) == 0) {
+        ifname = &ifname[4];
 
-            ec_log(10, "HW_OPEN", "Opening interface as BPF: %s\n", ifname);
-            ret = hw_device_bpf_open(phw, ifname);
-        } else 
+        ec_log(10, "HW_OPEN", "Opening interface as BPF: %s\n", ifname);
+        ret = hw_device_bpf_open(phw, ifname);
+    }
 #endif
 #if LIBETHERCAT_BUILD_DEVICE_PIKEOS == 1
-        if (strncmp(ifname, "pikeos:", 4) == 0) {
-            ifname = &ifname[7];
+    if (strncmp(ifname, "pikeos:", 4) == 0) {
+        ifname = &ifname[4];
 
-            ec_log(10, "HW_OPEN", "Opening interface as pikeos: %s\n", ifname);
-            ret = hw_device_pikeos_open(phw, ifname);
-        } else 
+        ec_log(10, "HW_OPEN", "Opening interface as pikeos: %s\n", ifname);
+        ret = hw_device_pikeos_open(phw, ifname);
+    }
+#endif
+#if LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY == 1
+    if (strncmp(ifname, "sock-raw:", 9) == 0) {
+        ifname = &ifname[9];
+
+        ec_log(10, "HW_OPEN", "Opening interface as SOCK_RAW: %s\n", ifname);
+        ret = hw_device_sock_raw_open(phw, ifname);
+    }
 #endif
 #if LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED == 1
-        if (strncmp(ifname, "sock-raw-mmaped:", 16) == 0) {
-            ifname = &ifname[16];
+    if (strncmp(ifname, "sock-raw-mmaped:", 16) == 0) {
+        ifname = &ifname[16];
 
-            ec_log(10, "HW_OPEN", "Opening interface as mmaped SOCK_RAW: %s\n", ifname);
-            ret = hw_device_sock_raw_mmaped_open(phw, ifname);
-        } else 
+        ec_log(10, "HW_OPEN", "Opening interface as mmaped SOCK_RAW: %s\n", ifname);
+        ret = hw_device_sock_raw_mmaped_open(phw, ifname);
+    }
 #endif
-        {
-#if LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY == 1
-            if (strncmp(ifname, "sock-raw:", 9) == 0) {
-                ifname = &ifname[9];
-            }
 
-            ec_log(10, "HW_OPEN", "Opening interface as SOCK_RAW: %s\n", ifname);
-            ret = hw_device_sock_raw_open(phw, ifname);
-#endif
-        }
-    }
 
     if (ret == EC_OK) {
         phw->rxthreadrunning = 1;