增加restart功能#1
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Pull request overview
该 PR 为 EtherCAT 总线通信增加了 restart 能力，用于断电/掉线后的重连恢复，从而提升总线启动阶段的鲁棒性。
Changes:
- 在
EthercatBusBase中新增restart()公共接口，通过内部关闭 socket 并重新startup()来实现重连。 - 在
EthercatBusManagerBase::startupCommunication()中，当单条总线startup()失败时尝试调用restart()进行恢复。 - 对
EthercatBusManagerBase.cpp做了部分代码换行/格式调整。
Reviewed changes
Copilot reviewed 3 out of 4 changed files in this pull request and generated 6 comments.
| File | Description |
|---|---|
| soem_interface_rsl/src/soem_interface_rsl/EthercatBusManagerBase.cpp | 启动通信失败时增加一次重连尝试，并做了部分格式调整 |
| soem_interface_rsl/src/soem_interface_rsl/EthercatBusBase.cpp | 实现 restart()：内部 shutdown/close 后重新 startup；增加对外包装函数 |
| soem_interface_rsl/include/soem_interface_rsl/EthercatBusBase.hpp | 声明并文档化新的 restart() API |
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| ** The soem_interface_rsl is free software: you can redistribute it and/or | ||
| * modify | ||
| ** it under the terms of the GNU General Public License as published by | ||
| ** the Free Software Foundation, either version 3 of the License, or |
| ** You should have received a copy of the GNU General Public License | ||
| ** along with the soem_interface_rsl. If not, see <https://www.gnu.org/licenses/>. | ||
| ** along with the soem_interface_rsl. If not, see | ||
| * <https://www.gnu.org/licenses/>. |
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| if (!bus.second->startup(true)) { | ||
| MELO_ERROR_STREAM("Failed to startup bus '" << bus.first << "'."); | ||
| return false; | ||
| MELO_WARN_STREAM("Attempting to reconnect bus '" | ||
| << bus.first << "' after startup failure."); | ||
| if (!bus.second->restart(true, 10)) { | ||
| MELO_ERROR_STREAM("Reconnect failed for bus '" << bus.first << "'."); | ||
| return false; | ||
| } | ||
| MELO_INFO_STREAM("Reconnect successful for bus '" << bus.first << "'."); |
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| if (ecatContext_.port != nullptr) { | ||
| MELO_INFO_STREAM("[soem_interface_rsl::" << name_ << "] Closing socket for restart ..."); | ||
| ecx_close(&ecatContext_); | ||
| soem_interface_rsl::threadSleep(0.2); | ||
| } | ||
| initlialized_ = false; | ||
| } |
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| bool EthercatBusBase::restart(bool sizeCheck, int maxDiscoverRetries) { | ||
| std::atomic<bool> tmpAtomicForStart{false}; | ||
| return pImpl_->restart(tmpAtomicForStart, sizeCheck, maxDiscoverRetries); | ||
| } |
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| /*! | ||
| * Restart the bus communication: shutdown internally and startup again. | ||
| * Unlike shutdown(), this preserves the bus object for reuse. | ||
| * @param sizeCheck perform a check of the Rx and Tx Pdo sizes | ||
| * @param maxDiscoverRetries number of retries for slave discovery | ||
| * @return True if successful. | ||
| */ | ||
| bool restart(bool sizeCheck = true, int maxDiscoverRetries = 10); |
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增加restart功能用于断电重连