Qt EtherCAT例程

以下是一个简单的Qt EtherCAT例程，可以用于读取和写入EtherCAT从设备的数据：

#include <QtCore/QCoreApplication>
#include <iostream>
#include <ecrt.h>

static ec_master_t *master = NULL;
static ec_master_info_t master_info = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_t *domain2 = NULL;
static ec_slave_config_t *slave1 = NULL;
static ec_slave_config_t *slave2 = NULL;

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    ec_slave_config_state_t state = {};
    ec_master_state_t mstate = {};
    ec_domain_state_t dstate1 = {};
    ec_domain_state_t dstate2 = {};

    int ret, i;

    /* Request master instance */
    master = ecrt_request_master(0);
    if (!master) {
        std::cout << "Failed to request master." << std::endl;
        return -1;
    }

    /* Get master information */
    ret = ecrt_master(master, &master_info);
    if (ret) {
        std::cout << "Failed to get master information." << std::endl;
        return -1;
    }

    std::cout << "EtherCAT master information:" << std::endl;
    std::cout << "  Vendor ID: " << master_info.vendor_id << std::endl;
    std::cout << "  Product code: " << master_info.product_code << std::endl;
    std::cout << "  Revision number: " << master_info.revision_number << std::endl;

    /* Create domains */
    domain1 = ecrt_master_create_domain(master);
    if (!domain1) {
        std::cout << "Failed to create domain 1." << std::endl;
        return -1;
    }

    domain2 = ecrt_master_create_domain(master);
    if (!domain2) {
        std::cout << "Failed to create domain 2." << std::endl;
        return -1;
    }

    /* Create slave 1 configuration */
    slave1 = ecrt_master_slave_config(master, 1, 0x0001, 0x0000, 0);
    if (!slave1) {
        std::cout << "Failed to create slave 1 configuration." << std::endl;
        return -1;
    }

    /* Create slave 2 configuration */
    slave2 = ecrt_master_slave_config(master, 2, 0x0002, 0x0000, 0);
    if (!slave2) {
        std::cout << "Failed to create slave 2 configuration." << std::endl;
        return -1;
    }

    /* Configure slaves */
    ret = ecrt_slave_config_state(slave1, EC_STATE_PRE_OP, EC_TIMEOUTSTATE);
    if (ret) {
        std::cout << "Failed to configure slave 1 to PRE-OP state." << std::endl;
        return -1;
    }

    ret = ecrt_slave_config_state(slave2, EC_STATE_PRE_OP, EC_TIMEOUTSTATE);
    if (ret) {
        std::cout << "Failed to configure slave 2 to PRE-OP state." << std::endl;
        return -1;
    }

    /* Check slave states */
    ecrt_master_state(master, &mstate);
    if (mstate.slaves_responding != mstate.slaves_found) {
        std::cout << "Not all slaves are responding." << std::endl;
        return -1;
    }

    ecrt_domain_state(domain1, &dstate1);
    if (dstate1.working_counter != 0) {
        std::cout << "Domain 1 is not in initial state." << std::endl;
        return -1;
    }

    ecrt_domain_state(domain2, &dstate2);
    if (dstate2.working_counter != 0) {
        std::cout << "Domain 2 is not in initial state." << std::endl;
        return -1;
    }

    /* Activate domains */
    ret = ecrt_domain_activate(domain1);
    if (ret) {
        std::cout << "Failed to activate domain 1." << std::endl;
        return -1;
    }

    ret = ecrt_domain_activate(domain2);
    if (ret) {
        std::cout << "Failed to activate domain 2." << std::endl;
        return -1;
    }

    /* Read and write data */
    uint8_t *domain1_pd = (uint8_t *)ecrt_domain_data(domain1);
    uint8_t *domain2_pd = (uint8_t *)ecrt_domain_data(domain2);

    /* Read from slave 1 */
    for (i = 0; i < 10; i++) {
        std::cout << "Slave 1: ";
        std::cout << (int)domain1_pd[i] << " ";
    }
    std::cout << std::endl;

    /* Write to slave 2 */
    for (i = 0; i < 10; i++) {
        domain2_pd[i] = i + 10;
    }

    /* Send data */
    ecrt_domain_queue(domain2);
    ecrt_master_send(master);

    /* Read from slave 2 */
    for (i = 0; i < 10; i++) {
        std::cout << "Slave 2: ";
        std::cout << (int)domain2_pd[i] << " ";
    }
    std::cout << std::endl;

    /* Deactivate domains */
    ret = ecrt_domain_deactivate(domain1);
    if (ret) {
        std::cout << "Failed to deactivate domain 1." << std::endl;
        return -1;
    }

    ret = ecrt_domain_deactivate(domain2);
    if (ret) {
        std::cout << "Failed to deactivate domain 2." << std::endl;
        return -1;
    }

    /* Release master instance */
    ecrt_release_master(master);

    return a.exec();
}

此例程首先请求EtherCAT主机实例，然后获取主机信息。然后，它创建两个域和两个从设备配置。

接下来，它将从设备配置为PRE-OP状态，并检查所有从设备是否都响应。然后，它激活两个域并读取和写入数据。

最后，它停用域并释放主机实例。请注意，此例程仅用于演示目的，并假定EtherCAT主机上存在两个从设备，其地址分别为1和2，且每个从设备的大小为10字节。在实际应用中，您需要根据您的硬件配置进行适当的修改。