Hi,
I would like to know which is the right way to get the number of slaves on the
EtherCAT bus in a usespace program.
I have tried 3 ways:
// way #1:
ec_master_info_t masterInfo;
ec_master_t* master = ecrt_request_master(0);
ec_master( master, &masterInfo );
// the answer should be in masterInfo.slave_count
// but it does not work because the compiler says
//"error: invalid use of incomplete type ‘struct ec_master’"
// way #2
ec_master_state_t state;
ec_master_t* master = ecrt_request_master(0);
ecrt_master_state( master, &state );
// it seems to work,
// the answer is in state.slaves_responding
// way #3 (very ugly)
ec_slave_info_t dummySlaveInfo;
int slave_count = 0;
ec_master_t* master = ecrt_request_master(0);
while (!ecrt_master_get_slave( master, slave_count, &dummySlaveInfo)) {
slave_count++;
}
// it work but there is warning on stderr when
// ecrt_master_get_slave fails at the end
for the moment I use way #2, but I wonder if is the best way to do.
regards,
--
Sebastien BLANCHET
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