Link State Monitoring

The Checker lets you monitor whether the EtherCAT link to the device is working correctly.

Obtaining the Checker

Using open_with_checker instead of the usual Client::open returns a pair of Client and Checker.

Rust

let (client, mut checker) = Client::open_with_checker(
    &geometry,
    EchocatLinkOption::default(),
    ClientConfig::default(),
)
.await?;

Python

client, checker = await Client.open_with_checker(
    geometry,
    echocat.EchocatLinkOption(),
    ClientConfig(),
)

C#

var (client, checker) = await Client.OpenWithCheckerAsync(
    geometry,
    new EchocatLinkOption(),
    new ClientConfig()
);

Obtaining the State

Checker::check returns the link state LinkStatus at the time of the call. LinkStatus holds the following.

• devices: the state of each device (DeviceState). OP when normal, LOST when disconnected, etc.
• all_op: whether all devices are in the OP state.
• any_lost: whether any device is in the LOST state.
• recoveries: the cumulative number of recoveries from disconnection.

The following is an example that calls check at fixed intervals and outputs only when the state changes.

Rust

let mut last: Option<LinkStatus> = None;
loop {
    let status = checker.check().await?;
    if last.as_ref() != Some(&status) {
        for (i, state) in status.devices().iter().enumerate() {
            println!("device[{i}]: {state}");
        }
        println!(
            "all operational: {}, any lost: {}, recoveries: {}",
            status.all_op(),
            status.any_lost(),
            status.recoveries()
        );
        last = Some(status);
    }
    tokio::time::sleep(CHECK_INTERVAL).await;
}

Python

last = None
while True:
    status = await checker.check()
    if status != last:
        for i, state in enumerate(status.device_states):
            print(f"device[{i}]: {state}")
        print(f"all operational: {status.all_op}, any lost: {status.any_lost}, recoveries: {status.recoveries}")
        last = status
    await asyncio.sleep(CHECK_INTERVAL)

C#

LinkStatus? last = null;
while (true)
{
    var status = await checker.CheckAsync();
    if (status != last)
    {
        for (var i = 0; i < status.Devices.Count; i++)
        {
            Console.WriteLine($"device[{i}]: {status.Devices[i]}");
        }
        Console.WriteLine($"all operational: {status.AllOp}, any lost: {status.AnyLost}, recoveries: {status.Recoveries}");
        last = status;
    }
    await Task.Delay(CheckInterval);
}

How often to call check is up to the user.