EtherCrab

EtherCrabLink is a Link implementation using EtherCrab, an EtherCAT master written in Rust.

Installation

Rust

cargo add autd3-rs-link-ethercrab

Python

pip install autd3-link-ethercrab

C#

dotnet add package AUTD3.Link.Ethercrab

Because it handles an Ethernet raw socket, running it on Linux/macOS requires root privileges (or CAP_NET_RAW). On Windows, npcap must be installed in “WinPcap API-compatible mode”.

API

Rust

EtherCrabLinkOption {
    iface,
    sync0_period,
    sync0_shift,
    sync_tolerance,
    sync_timeout,
};

Python

ethercrab.EtherCrabLinkOption(
    iface,
    sync0_period,
    sync0_shift,
    sync_tolerance,
    sync_timeout,
)

C#

new EtherCrabLinkOption(
    iface,
    sync0Period,
    sync0Shift,
    syncTolerance,
    syncTimeout
);

Field	Type	Description
iface	Interface	network interface to use. Interface::Auto for automatic selection, Interface::Name(..) to specify by name
sync0_period	Duration	period of the SYNC0 signal
sync0_shift	Duration	shift amount of the SYNC0 signal
sync_tolerance	Duration	tolerance considered as synchronization complete
sync_timeout	Duration	timeout to wait for synchronization to complete

EtherCrabLinkOptionFull, which fully configures EtherCrab, is also provided (Rust only).

Rust

EtherCrabLinkOptionFull {
    iface,
    timeouts,
    main_device_config,
    dc_configuration,
    sync_tolerance,
    sync_timeout,
    tx_rx_priority,
    tx_rx_policy,
    tx_rx_affinity,
};

Field	Type	Description
iface	Interface	network interface to use. Interface::Auto for automatic selection, Interface::Name(..) to specify by name
timeouts	ethercrab::Timeouts	see the EtherCrab documentation
main_device_config	ethercrab::MainDeviceConfig	see the EtherCrab documentation
dc_configuration	ethercrab::subdevice_group::DcConfiguration	see the EtherCrab documentation
sync_tolerance	Duration	tolerance considered as synchronization complete
sync_timeout	Duration	timeout to wait for synchronization to complete
tx_rx_priority	Option<ThreadPriority>	RT priority of the dedicated tx/rx thread. Defaults to 90 outside Windows. It must stay above ClientConfig.rt_priority (default 80): throughput drops with lower value
tx_rx_policy	RtSchedulePolicy	scheduling policy used when tx_rx_priority is set (Normal / Fifo / RoundRobin)
tx_rx_affinity	Option<CoreId>	CPU core affinity of the tx/rx thread (OS default if unspecified)