feat(ethercat): run the EtherCAT master as EtherDOG, a supervised process [RTOP-296]

.dockerignore

@@ -24,3 +24,7 @@ core/src/drivers/plugins/python/modbus_slave/modbus_slave_config.json
 core/src/drivers/plugins/python/modbus_master/modbus_master.json
 core/src/drivers/plugins/python/opcua/opcua.json
 core/src/drivers/plugins/native/s7comm/s7comm_config.json
+
+# EtherDOG build trees (the source itself is copied in for the image build)
+/etherdog/build*/
+/third_party/etherdog/build/

.gitignore

@@ -40,3 +40,7 @@ core/src/drivers/plugins/native/ethercat/libs/soem/cmake/CYGWIN.cmake
 *.o
 *.so
 .DS_Store
+
+# EtherDOG (EtherCAT master service) source, fetched or copied in by install.sh
+/etherdog/
+/third_party/

CLAUDE.md

@@ -148,6 +148,11 @@ State management: `core/src/plc_app/plc_state_manager.cpp`
 - **Driver code**: `core/src/drivers/`
 - **Plugin examples**: `core/src/drivers/plugins/python/` and `core/src/drivers/plugins/native/`
 
+### EtherCAT
+- **Master**: EtherDOG, a separate process (`build/etherdog`) supervised by `webserver/etherdog_manager.py`
+- **Client plugin**: `core/src/drivers/plugins/native/ethercat/` joins EtherDOG's layout with `ethercat_iomapping.json`
+- Details: `docs/ETHERCAT.md`
+
 ### Key Subsystems
 - **Scan cycle tracker**: `core/src/plc_app/scan_cycle_manager.c` - scan timing statistics
 - **Debug handler**: `core/src/plc_app/debug_handler.c` - STruC++ debugger PDUs (function codes 0x41-0x45);

README.md

@@ -287,7 +287,7 @@ The installation script will:
 3. Create Python virtual environment at `venvs/runtime/`
 4. Install Python dependencies
 5. Compile the PLC runtime core with CMake
-6. Build native plugins (e.g., EtherCAT, S7comm)
+6. Build native plugins (e.g., EtherCAT client, S7comm) and EtherDOG, the EtherCAT master service
 7. Install and start a systemd service (`openplc-runtime`) when systemd is available
 
 ### Manual Build

VERSION

@@ -1 +1 @@
-v4.2.4
+v4.3.0

core/src/drivers/README.md

@@ -746,7 +746,7 @@ void plugin_driver_destroy(plugin_driver_t *driver);
 
 ## License
 
-This plugin system is part of the OpenPLC Runtime project and follows the same licensing terms (typically GPLv3 or later).
+This plugin system is part of the OpenPLC Runtime and is licensed under the MIT License (see the top-level `LICENSE`). Plugins can carry their own license: the S7comm plugin is LGPLv3 or later, matching the Snap7 library it links.
 
 ## Contributing
 

core/src/drivers/plugins/native/ethercat/CMakeLists.txt

@@ -1,5 +1,7 @@
-# CMakeLists.txt for EtherCAT Plugin
-# Builds a self-contained EtherCAT plugin with SOEM library included
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2026 Autonomy®
+#
+# EtherCAT client plugin: relays process data between EtherDOG and the image tables.
 
 cmake_minimum_required(VERSION 3.10)
 project(ethercat_plugin C)
@@ -8,166 +10,18 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-# Determine OpenPLC root directory for finding common headers
-# When building standalone: calculate from plugin location
-# When building from main project: pass -DOPENPLC_ROOT=<path>
 if(NOT DEFINED OPENPLC_ROOT)
     get_filename_component(OPENPLC_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../../../../../../" ABSOLUTE)
 endif()
 
-message(STATUS "EtherCAT Plugin - OpenPLC root: ${OPENPLC_ROOT}")
-
-# =============================================================================
-# SOEM Library (built via add_subdirectory for proper ec_options.h generation)
-# =============================================================================
-
-set(SOEM_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/soem)
-set(SOEM_BUILD_SAMPLES OFF CACHE BOOL "Disable SOEM samples" FORCE)
-
-# On MSYS2/Cygwin, SOEM ships no platform cmake file (only Linux.cmake,
-# Windows.cmake, rt-kernel.cmake exist).  Generate one from the Win32
-# variant because MSYS2 can use Win32 OSAL/OSHW through w32api headers
-# while the Linux OSHW needs AF_PACKET raw sockets which are unavailable.
-if(CMAKE_SYSTEM_NAME STREQUAL "MSYS" OR CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
-    set(_SOEM_PLATFORM_CMAKE "${SOEM_DIR}/cmake/${CMAKE_SYSTEM_NAME}.cmake")
-    message(STATUS "EtherCAT Plugin - Generating ${CMAKE_SYSTEM_NAME}.cmake for SOEM (Win32 OSAL/OSHW via w32api)")
-    file(WRITE "${_SOEM_PLATFORM_CMAKE}" "\
-# Auto-generated for ${CMAKE_SYSTEM_NAME} -- based on Windows.cmake\n\
-# Uses Win32 OSAL/OSHW accessible through w32api on MSYS2/Cygwin.\n\
-\n\
-target_sources(soem PRIVATE\n\
-  osal/win32/osal.c\n\
-  osal/win32/osal_defs.h\n\
-  oshw/win32/oshw.c\n\
-  oshw/win32/oshw.h\n\
-  oshw/win32/nicdrv.c\n\
-  oshw/win32/nicdrv.h\n\
-)\n\
-\n\
-target_include_directories(soem PUBLIC\n\
-  $<BUILD_INTERFACE:\${SOEM_SOURCE_DIR}/osal/win32>\n\
-  $<BUILD_INTERFACE:\${SOEM_SOURCE_DIR}/oshw/win32>\n\
-  $<BUILD_INTERFACE:\${SOEM_SOURCE_DIR}/oshw/win32/wpcap/Include>\n\
-  $<INSTALL_INTERFACE:include/soem>\n\
-)\n\
-\n\
-target_compile_options(soem PUBLIC\n\
-  $<$<C_COMPILER_ID:GNU>:-std=c11>\n\
-)\n\
-\n\
-# WIN32 is NOT predefined by MSYS2/Cygwin GCC, but the bundled\n\
-# wpcap headers (pcap/pcap.h:40) need it to route to pcap-stdinc.h.\n\
-# HAVE_U_INT*_T tells bundled bittypes.h to skip its typedefs --\n\
-# MSYS2 POSIX headers (sys/types.h) already provide these types and\n\
-# use different underlying types on LP64 (long vs long long for 64-bit).\n\
-#\n\
-# __USE_W32_SOCKETS tells MSYS2 / Cygwin's POSIX headers\n\
-# (\`sys/select.h\`, \`sys/unistd.h\`) NOT to declare their own \`select\`\n\
-# and \`gethostname\` — the Win32 \`winsock2.h\` declarations (which the\n\
-# bundled wpcap headers pull in transitively) are the ones we want\n\
-# to use.  Without this, any TU that includes both a POSIX header\n\
-# (e.g. \`<signal.h>\` in ethercat_plugin.c, which transitively pulls\n\
-# in sys/select.h) AND a SOEM/wpcap header (which pulls in\n\
-# winsock2.h) gets a redeclaration error because the two libcs\n\
-# disagree on the signature ( \`struct timeval *\` vs \`const TIMEVAL *\`,\n\
-# \`size_t\` vs \`int\`).  Marking the macro PUBLIC propagates it to\n\
-# every target linking against soem (notably ethercat_plugin).\n\
-target_compile_definitions(soem PUBLIC\n\
-  WIN32\n\
-  __USE_W32_SOCKETS\n\
-  HAVE_U_INT8_T\n\
-  HAVE_U_INT16_T\n\
-  HAVE_U_INT32_T\n\
-  HAVE_U_INT64_T\n\
-  # pcap-stdinc.h redefines snprintf to _snprintf when _MSC_VER is\n\
-  # undefined (preprocessor treats it as 0, so 0 < 1500 is true).\n\
-  # Map _snprintf back to snprintf so MinGW GCC resolves the call.\n\
-  _snprintf=snprintf\n\
-  _vsnprintf=vsnprintf\n\
-)\n\
-\n\
-foreach(target IN ITEMS\n\
-    soem\n\
-    ec_sample\n\
-    eepromtool\n\
-    eni_test\n\
-    eoe_test\n\
-    firm_update\n\
-    simple_ng\n\
-    slaveinfo)\n\
-  if (TARGET \${target})\n\
-    target_compile_options(\${target} PRIVATE\n\
-      $<$<C_COMPILER_ID:GNU>:\n\
-      -Wall\n\
-      -Wextra\n\
-      -Wno-unused-parameter\n\
-      >\n\
-    )\n\
-  endif()\n\
-endforeach()\n\
-\n\
-if(CMAKE_SIZEOF_VOID_P EQUAL 8)\n\
-  set(WPCAP_LIB_PATH \${SOEM_SOURCE_DIR}/oshw/win32/wpcap/Lib/x64)\n\
-  target_link_libraries(soem PUBLIC\n\
-    \${WPCAP_LIB_PATH}/wpcap.lib\n\
-    \${WPCAP_LIB_PATH}/Packet.lib\n\
-  )\n\
-elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)\n\
-  set(WPCAP_LIB_PATH \${SOEM_SOURCE_DIR}/oshw/win32/wpcap/Lib)\n\
-  target_link_libraries(soem PUBLIC\n\
-    \${WPCAP_LIB_PATH}/libwpcap.a\n\
-    \${WPCAP_LIB_PATH}/libpacket.a\n\
-  )\n\
-endif()\n\
-\n\
-target_link_libraries(soem PUBLIC ws2_32 winmm)\n\
-\n\
-install(FILES\n\
-  osal/win32/osal_defs.h\n\
-  oshw/win32/nicdrv.h\n\
-  DESTINATION include/soem\n\
-)\n\
-")
-    unset(_SOEM_PLATFORM_CMAKE)
-endif()
-
-add_subdirectory(${SOEM_DIR} ${CMAKE_CURRENT_BINARY_DIR}/soem)
-
-# =============================================================================
-# cJSON Library (shared utility for all native plugins)
-# =============================================================================
-
-set(CJSON_SOURCES
-    ${OPENPLC_ROOT}/core/src/drivers/plugins/native/cjson/cJSON.c
-)
-
-# =============================================================================
-# Plugin Source Files
-# =============================================================================
-
-set(PLUGIN_SOURCES
+add_library(ethercat_plugin SHARED
     ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_plugin.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_config.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_master.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_io.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_proc.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_iface_state.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/etherdog_link.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/ethercat_iomap.c
+    ${OPENPLC_ROOT}/core/src/drivers/plugins/native/cjson/cJSON.c
     ${OPENPLC_ROOT}/core/src/drivers/plugins/native/plugin_logger.c
 )
 
-# =============================================================================
-# Create Shared Library
-# =============================================================================
-
-add_library(ethercat_plugin SHARED
-    ${CJSON_SOURCES}
-    ${PLUGIN_SOURCES}
-)
-
-# =============================================================================
-# Include Directories
-# =============================================================================
-
 target_include_directories(ethercat_plugin PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${OPENPLC_ROOT}/core/src/drivers/plugins/native/cjson
@@ -176,52 +30,23 @@ target_include_directories(ethercat_plugin PRIVATE
     ${OPENPLC_ROOT}/core/src/lib
 )
 
-# =============================================================================
-# Compiler Options
-# =============================================================================
-
-target_compile_options(ethercat_plugin PRIVATE
-    -fPIC
-    -Wno-unused-parameter
-    -Wno-sign-compare
-)
+target_compile_options(ethercat_plugin PRIVATE -Wall -Wextra -Wno-unused-parameter)
+target_link_libraries(ethercat_plugin PRIVATE pthread)
 
-# =============================================================================
-# Link Libraries
-# =============================================================================
-
-target_link_libraries(ethercat_plugin PRIVATE
-    soem
-    ${CMAKE_DL_LIBS}
-)
-
-# On MSYS2/Cygwin, ensure plugin API symbols (init, start_loop, etc.) are
-# exported from the shared library so that dlsym() can resolve them.
+# MSYS2/Cygwin: export the plugin entry points so dlsym() resolves them.
 if(CMAKE_SYSTEM_NAME STREQUAL "MSYS" OR CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
-    set_target_properties(ethercat_plugin PROPERTIES
-        LINK_FLAGS "-Wl,--export-all-symbols"
-    )
+    set_target_properties(ethercat_plugin PROPERTIES LINK_FLAGS "-Wl,--export-all-symbols")
 endif()
 
-# =============================================================================
-# Output Settings
-# =============================================================================
-
 set_target_properties(ethercat_plugin PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/plugins
     PREFIX "lib"
     OUTPUT_NAME "ethercat_plugin"
 )
-
-# On Linux, use .so extension
 if(UNIX)
     set_target_properties(ethercat_plugin PROPERTIES SUFFIX ".so")
 endif()
 
-# =============================================================================
-# Install Target
-# =============================================================================
-
 install(TARGETS ethercat_plugin
     LIBRARY DESTINATION lib/openplc/plugins
     RUNTIME DESTINATION lib/openplc/plugins