Prestonr feature add wkc driver saves

src/jsd.c

@@ -194,6 +194,8 @@ bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery) {
       WARNING("Failed OP transition attempt %d of %d", attempt,
               JSD_PO2OP_MAX_ATTEMPTS);
 
+      jsd_inspect_context(self);
+
       if (attempt >= JSD_PO2OP_MAX_ATTEMPTS) {
         ERROR("Max number of attempts to transition to OPERATIONAL exceeded.");
         return false;
@@ -226,6 +228,71 @@ bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery) {
   return true;
 }
 
+bool jsd_all_slaves_operational(jsd_t* self) {
+  int slave;
+  bool all_slaves_operational = true;
+  uint8_t currentgroup = 0;  // only 1 rate group in JSD currently
+  /* one or more slaves may not be responding */
+  for (slave = 1; slave <= *self->ecx_context.slavecount; slave++) {
+    if (self->ecx_context.slavelist[slave].group != currentgroup) continue;
+
+    /* re-check bad slave individually */
+    ecx_statecheck(&self->ecx_context, slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
+    if (self->ecx_context.slavelist[slave].state != EC_STATE_OPERATIONAL) {
+      all_slaves_operational = false;
+      if (self->ecx_context.slavelist[slave].state ==
+          (EC_STATE_SAFE_OP + EC_STATE_ERROR)) {
+        ERROR("slave[%d] is in SAFE_OP + ERROR.", slave);
+      } else if (self->ecx_context.slavelist[slave].state == EC_STATE_SAFE_OP) {
+        ERROR("slave[%d] is in SAFE_OP.", slave);
+      } else if (self->ecx_context.slavelist[slave].state > EC_STATE_NONE) {
+        ERROR("slave[%d] is in state with hexadecimal: %x", slave, self->ecx_context.slavelist[slave].state);
+      } else {
+        ERROR("slave[%d] is lost", slave);
+      }
+    }
+    else {
+      MSG("slave[%d] is OPERATIONAL.", slave);
+    }
+  }
+
+  return all_slaves_operational;
+}
+
+void jsd_inspect_context(jsd_t* self) {
+  ec_state bus_state = jsd_get_device_state(self, 0);
+
+  /* first check if the jsd bus is operational so we can get more info */
+  if (bus_state != EC_STATE_OPERATIONAL) {
+    ERROR("JSD bus is not OPERATIONAL.");
+  }
+
+  if (jsd_all_slaves_operational(self)) {
+    MSG("All slaves were operational at time of working counter fault.");
+  }
+  else {
+    MSG("Some slaves were not operational.");
+    if (self->ecx_context.ecaterror) {
+      MSG("An ECAT error occurred; the error list is displayed below:");
+      uint8_t i = 0; 
+      while(self->ecx_context.ecaterror && i < JSD_ELIST_MAX_READS) {
+        MSG("%s\n", ecx_elist2string(&self->ecx_context));
+        i++;
+      }
+      if (i == JSD_ELIST_MAX_READS) {
+        MSG("Maximum number of reads from error list experienced."
+            " This is likely a result of indefinite polling.");
+      }
+      else {
+        MSG("Finished reporting errors in error list.");
+      }
+    }
+    else {
+      MSG("Despite some slaves not being operational, an ECAT error was not experienced.");
+    }
+  }
+}
+
 void jsd_read(jsd_t* self, int timeout_us) {
   assert(self);
 

src/jsd.h

@@ -8,6 +8,7 @@ extern "C" {
 #include "jsd/jsd_pub.h"
 
 #define JSD_PO2OP_MAX_ATTEMPTS 3
+#define JSD_ELIST_MAX_READS 100
 
 /**
  * @brief converts ec_state int to human-readable string

src/jsd_pub.h

@@ -53,6 +53,21 @@ void jsd_set_slave_config(jsd_t* self, uint16_t slave_id,
  */
 bool jsd_init(jsd_t* self, const char* ifname, uint8_t enable_autorecovery);
 
+/**
+ * @brief Determines if all slaves are operational via individual slave queries
+ * 
+ * @param self pointer JSD context
+ */
+bool jsd_all_slaves_operational(jsd_t* self);
+
+/**
+ * @brief After experiencing a bad working counter it is advised to check the 
+ * context to discover which devices were problematic (if any).
+ *
+ * @param self pointer JSD context
+ */
+void jsd_inspect_context(jsd_t* self);
+
 /**
  * @brief Receive data from slave devices and store on local IOmap.
  *