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Hi Stefan, is there any reason why you limit Ibytes, same applies to Obytes, to 8 bytes ? shouldn't we just make sure that num bytes reported by slave matches the bits ?

numbytes = ec_slave[i].Ibytes;
if ((numbytes == 0) && (ec_slave[i].Ibits > 0)) numbytes = 1;
if (numbytes > 8) numbytes = 8;

Rgds

I am just prototyping with node-soem using a Beckhoff EL2622 (2-channel relay).

This device has two output bits:

{ name: 'EL2622',
    state: 18,
    ALStatusocde: 0,
    configadr: 4098,
    aliasadr: 0,
    Obits: 2,
    Obytes: 0,
    outputs: ArrayBuffer { byteLength: 0 },
    Ibits: 0,
    Ibytes: 0,
    inputs: ArrayBuffer { byteLength: 0 },
    pdelay: 145 }

Note that the outputs array is zero length, so the following code fails:

        var counter = 0,
            slaves = master.getSlaves(),
            dv = new DataView(slaves[1].outputs);

        var intv = setInterval(function () {

            master.sendProcessdata();
            master.receiveProcessdata();

            dv.setUint16(0, 1);

(the DataView is zero length)

According to the SOEM ethercatmain.h, if Obits is less than 8, Obytes will be zero, as in this case.

I hacked around this using the following code:

                uint16 bits=ec_slave[i].Obits;

                if ( bits > 0 && bits < 8 ) {
                        slave->Set(String::NewFromUtf8(isolate, "outputs"),
                                ArrayBuffer::New(isolate, (void*) ec_slave[i].outputs, 1));
                } else {
                        slave->Set(String::NewFromUtf8(isolate, "outputs"),
                                ArrayBuffer::New(isolate, (void*) ec_slave[i].outputs, ec_slave[i].Obytes));
                }

Then I could use dv.setUint8 in the Javascript and it worked ok.

I think there is more to do for a proper solution, because I didn't take care of the bit offset / mask. There is some further info on this here: https://openethercatsociety.github.io/doc/soem/tutorial_8txt.html.

It would be great if ultimately this library (or another) could abstract this type of detail away from the developer -- many Javascript developers are not used to doing bitwise manipulation, or even using advanced features such as DataView!

Anyway I got my little PoC working so thanks for the lib!

Fails with:
SOLINK_MODULE(target) Release/obj.target/node-soem.node
/usr/bin/ld: ../lib/build/libsoem.a(ethercatmain.c.o): Die Umlagerung von
../lib/build/libsoem.a: error adding symbols: Ungültiger Wert
collect2: error: ld returned 1 exit status
node-soem.target.mk:132: die Regel für Ziel „Release/obj.target/node-soem.node“ scheiterte
make: *** [Release/obj.target/node-soem.node] Fehler 1
make: Verzeichnis „/home/helyman83/node-soem/build“ wird verlassen

In the last SOEM changes, they have cleaned up the CMakeLists.txt file.

In preinstall.sh this fails:
sed -i "/target_link_libraries(soem\ pthread\ rt)/a \ \ set_property(TARGET soem PROPERTY POSITION_INDEPENDENT_CODE ON)" CMakeLists.txt

because "target_link_libraries(soem pthread rt)" was replaced by "target_link_libraries(soem ${OS_LIBS})"

preinstall.sh works again if we replace it with:
sed -i '/target_link_libraries(soem\ ${OS_LIBS})/a \ \ set_property(TARGET soem PROPERTY POSITION_INDEPENDENT_CODE ON)' CMakeLists.txt

Attempt to "sudo npm install node-soem" fails at "node-gyp rebuild".
Node.js is "v4.2.6". Also installed "nodejs-legacy" but no change.
SOEM was installed before this and seems to work fine.

Additional info - the first error is on building "../src/node-sooem-master.cc:8:22: fatal error: ethercat.h: No such file or directory". I will try to find why.

In example_01.js and readme.md to switch to OP state we should pass to writeState/statecheck '8' and not '4'.
See typdef enum from https://github.com/OpenEtherCATsociety/SOEM/blob/master/soem/ethercattype.h :
/** Possible EtherCAT slave states */ typedef enum { /** No valid state. */ EC_STATE_NONE = 0x00, /** Init state*/ EC_STATE_INIT = 0x01, /** Pre-operational. */ EC_STATE_PRE_OP = 0x02, /** Boot state*/ EC_STATE_BOOT = 0x03, /** Safe-operational. */ EC_STATE_SAFE_OP = 0x04, /** Operational */ EC_STATE_OPERATIONAL = 0x08, /** Error or ACK error */ EC_STATE_ACK = 0x10, EC_STATE_ERROR = 0x10 } ec_state;
and https://infosys.beckhoff.com/index.php?content=../content/1031/tcsystemmanager/reference/ethercat/html/EtherCAT_Diagnostics.htm&id= (section Info Data).
Or I'm missing something ?

npm install node-soem fails at node-gyp build.

SOLINK_MODULE(target) Release/obj.target/node-soem.node
**/usr/bin/ld: cannot find -lsoem**
collect2: error: ld returned 1 exit status
node-soem.target.mk:133: die Regel für Ziel „Release/obj.target/node-soem.node“ scheiterte
make: *** [Release/obj.target/node-soem.node] Fehler 1
make: Verzeichnis „/home/xxx/proj/node_modules/node-soem/build“ wird verlassen
gyp ERR! build error
gyp ERR! stack Error: 'make' failed with exit code: 2
gyp ERR! stack     at ChildProcess.onExit (/usr/lib/node_modules/node-gyp/lib/build.js:285:23)
gyp ERR! stack     at emitTwo (events.js:106:13)
gyp ERR! stack     at ChildProcess.emit (events.js:191:7)
gyp ERR! stack     at Process.ChildProcess._handle.onexit (internal/child_process.js:215:12)
gyp ERR! System Linux 4.4.0-78-generic
gyp ERR! command "/usr/bin/nodejs" "/usr/bin/node-gyp" "rebuild"
gyp ERR! cwd /home/xxx/proj//node_modules/node-soem
gyp ERR! node -v v6.10.3
gyp ERR! node-gyp -v v3.6.1
gyp ERR! not ok

gyp info using [email protected]
gyp info using [email protected] | linux | x64
Ubuntu 16.04.2 LTS

There is a mistake in the binding.gyp. The libsoem.so is not at lib/build but at ../lib/build. But this doesn't help. At execution of a Node.js app based on node-soem I get:

module.js:597
  return process.dlopen(module, path._makeLong(filename));
                 ^

Error: libsoem.so: cannot open shared object file: No such file or directory
    at Error (native)
    at Object.Module._extensions..node (module.js:597:18)
    at Module.load (module.js:487:32)
    at tryModuleLoad (module.js:446:12)
    at Function.Module._load (module.js:438:3)
    at Module.require (module.js:497:17)
    at require (internal/module.js:20:19)
    at Object.<anonymous> (/home/ballings/proj/spielwiese/nodeEtherCAT/example_01.js:1:74)
    at Module._compile (module.js:570:32)
    at Object.Module._extensions..js (module.js:579:10)

If I copy the libsoem manually to /usr/lib everything working fine (node-gyp build & execution of node.js app).

By the way... why you use an shared object of libsoem and not an static linked object?