tool/CommandConfig.cpp
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jan 2012 10:13:13 +0100
changeset 2247 00e3937e0f0a
parent 1968 4f682084c643
child 2421 bc2d4bf9cbe5
child 2589 2b9c78543663
permissions -rw-r--r--
Minor: Indentation.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *  vim: expandtab
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 *
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 ****************************************************************************/
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#include <list>
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#include <iostream>
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#include <iomanip>
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#include <sstream>
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using namespace std;
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#include "CommandConfig.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandConfig::CommandConfig():
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    Command("config", "Show slave configurations.")
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{
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}
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/*****************************************************************************/
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string CommandConfig::helpString(const string &binaryBaseName) const
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{
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    stringstream str;
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    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
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        << endl
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        << getBriefDescription() << endl
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        << endl
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        << "Without the --verbose option, slave configurations are" << endl
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        << "output one-per-line. Example:" << endl
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        << endl
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        << "1001:0  0x0000003b/0x02010000  3  OP" << endl
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        << "|       |                      |  |" << endl
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        << "|       |                      |  \\- Application-layer" << endl
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        << "|       |                      |     state of the attached" << endl
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        << "|       |                      |     slave, or '-', if no" << endl
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        << "|       |                      |     slave is attached." << endl
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        << "|       |                      \\- Absolute decimal ring" << endl
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        << "|       |                         position of the attached" << endl
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        << "|       |                         slave, or '-' if none" << endl
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        << "|       |                         attached." << endl
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        << "|       \\- Expected vendor ID and product code (both" << endl
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        << "|          hexadecimal)." << endl
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        << "\\- Alias address and relative position (both decimal)." << endl
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        << endl
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        << "With the --verbose option given, the configured PDOs and" << endl
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        << "SDOs are output in addition." << endl
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        << endl
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        << "Configuration selection:" << endl
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        << "  Slave configurations can be selected with" << endl
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        << "  the --alias and --position parameters as follows:" << endl
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        << endl
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        << "  1) If neither the --alias nor the --position option" << endl
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        << "     is given, all slave configurations are displayed." << endl
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        << "  2) If only the --position option is given, an alias" << endl
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        << "     of zero is assumed (see 4))." << endl
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        << "  3) If only the --alias option is given, all slave" << endl
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        << "     configurations with the given alias address" << endl
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        << "     are displayed." << endl
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        << "  4) If both the --alias and the --position option are" << endl
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        << "     given, the selection can match a single" << endl
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        << "     configuration, that is displayed, if it exists." << endl
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        << endl
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        << "Command-specific options:" << endl
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        << "  --alias    -a <alias>  Configuration alias (see above)." << endl
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        << "  --position -p <pos>    Relative position (see above)." << endl
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        << "  --verbose  -v          Show detailed configurations." << endl
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        << endl
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        << numericInfo();
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    return str.str();
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}
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/*****************************************************************************/
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/** Lists the bus configuration.
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 */
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void CommandConfig::execute(const StringVector &args)
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{
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    MasterIndexList masterIndices;
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    bool doIndent;
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    ConfigList configs;
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    if (args.size()) {
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        stringstream err;
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        err << "'" << getName() << "' takes no arguments!";
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        throwInvalidUsageException(err);
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    }
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    masterIndices = getMasterIndices();
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    doIndent = masterIndices.size() > 1;
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    MasterIndexList::const_iterator mi;
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    for (mi = masterIndices.begin();
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            mi != masterIndices.end(); mi++) {
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        MasterDevice m(*mi);
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        m.open(MasterDevice::Read);
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        configs = selectedConfigs(m);
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        if (configs.size() && doIndent) {
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            cout << "Master" << dec << m.getIndex() << endl;
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        }
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        if (getVerbosity() == Verbose) {
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            showDetailedConfigs(m, configs, doIndent);
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        } else {
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            listConfigs(m, configs, doIndent);
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        }
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    }
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}
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/*****************************************************************************/
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/** Lists the complete bus configuration.
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 */
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void CommandConfig::showDetailedConfigs(
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        MasterDevice &m,
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        const ConfigList &configList,
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        bool doIndent
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        )
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{
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    ConfigList::const_iterator configIter;
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    unsigned int i, j, k, l;
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    ec_ioctl_slave_t slave;
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    ec_ioctl_config_pdo_t pdo;
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    ec_ioctl_config_pdo_entry_t entry;
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    ec_ioctl_config_sdo_t sdo;
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23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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    ec_ioctl_config_idn_t idn;
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    string indent(doIndent ? "  " : "");
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    for (configIter = configList.begin();
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            configIter != configList.end();
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            configIter++) {
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        cout << indent
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            << "Alias: "
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            << dec << configIter->alias << endl << indent
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   166
            << "Position: " << configIter->position << endl << indent
1142
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            << "Vendor Id: 0x"
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            << hex << setfill('0')
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            << setw(8) << configIter->vendor_id << endl << indent
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            << "Product code: 0x"
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            << setw(8) << configIter->product_code << endl << indent
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            << "Attached slave: ";
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   173
        
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        if (configIter->slave_position != -1) {
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            m.getSlave(&slave, configIter->slave_position);
1172
74ee632c3b5e Fixed attached slave position in 'ethercat config' -> decimal.
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   176
            cout << dec << configIter->slave_position
1148
1762296870bd Renamed state field to al_state.
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   177
                << " (" << alStateString(slave.al_state) << ")" << endl;
1147
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   178
        } else {
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            cout << "none" << endl;
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   180
        }
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        cout << indent << "Watchdog divider: ";
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   183
        if (configIter->watchdog_divider) {
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            cout << dec << configIter->watchdog_divider;
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   185
        } else {
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            cout << "(Default)";
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        }
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        cout << endl << indent
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            << "Watchdog intervals: ";
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   190
        if (configIter->watchdog_intervals) {
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            cout << dec << configIter->watchdog_intervals;
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   192
        } else {
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   193
            cout << "(Default)";
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   194
        }
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        cout << endl;
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   196
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        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
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            if (configIter->syncs[j].pdo_count) {
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                cout << indent << "SM" << dec << j << ", Dir: "
1142
59be91dfcbe1 Redesigned command interface.
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                    << (configIter->syncs[j].dir == EC_DIR_INPUT
1518
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   201
                            ? "Input" : "Output") << ", Watchdog: ";
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   202
                switch (configIter->syncs[j].watchdog_mode) {
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   203
                    case EC_WD_DEFAULT: cout << "Default"; break;
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   204
                    case EC_WD_ENABLE: cout << "Enable"; break;
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   205
                    case EC_WD_DISABLE: cout << "Disable"; break;
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   206
                    default: cout << "???"; break;
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   207
                }
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                cout << endl;
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   209
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                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
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                    m.getConfigPdo(&pdo, configIter->config_index, j, k);
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   212
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                    cout << indent << "  PDO 0x" << hex << setfill('0')
1467
013a4e42a9fb Minor fix in 'ethercat config' output.
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   214
                        << setw(4) << pdo.index << endl;
1142
59be91dfcbe1 Redesigned command interface.
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   215
59be91dfcbe1 Redesigned command interface.
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   216
                    for (l = 0; l < pdo.entry_count; l++) {
59be91dfcbe1 Redesigned command interface.
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                        m.getConfigPdoEntry(&entry,
59be91dfcbe1 Redesigned command interface.
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                                configIter->config_index, j, k, l);
59be91dfcbe1 Redesigned command interface.
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   219
1826
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   220
                        cout << indent << "    PDO entry 0x"
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   221
                            << hex << setfill('0')
1142
59be91dfcbe1 Redesigned command interface.
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   222
                            << setw(4) << entry.index << ":"
59be91dfcbe1 Redesigned command interface.
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   223
                            << setw(2) << (unsigned int) entry.subindex
1188
3b4e82d9904b Don't show Pdo (entry) names in configuration output.
Florian Pose <fp@igh-essen.com>
parents: 1172
diff changeset
   224
                            << ", " << dec << setfill(' ')
3b4e82d9904b Don't show Pdo (entry) names in configuration output.
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   225
                            << setw(2) << (unsigned int) entry.bit_length
3b4e82d9904b Don't show Pdo (entry) names in configuration output.
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diff changeset
   226
                            << " bit" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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   227
                    }
59be91dfcbe1 Redesigned command interface.
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   228
                }
59be91dfcbe1 Redesigned command interface.
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   229
            }
59be91dfcbe1 Redesigned command interface.
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   230
        }
59be91dfcbe1 Redesigned command interface.
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diff changeset
   231
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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   232
        cout << indent << "SDO configuration:" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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diff changeset
   233
        if (configIter->sdo_count) {
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   234
            for (j = 0; j < configIter->sdo_count; j++) {
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   235
                m.getConfigSdo(&sdo, configIter->config_index, j);
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   236
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   237
                cout << indent << "  0x"
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   238
                    << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   239
                    << setw(4) << sdo.index << ":"
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   240
                    << setw(2) << (unsigned int) sdo.subindex
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   241
                    << ", " << dec << sdo.size << " byte" << endl;
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   242
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   243
                cout << indent << "    " << hex;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   244
                for (i = 0; i < min((uint32_t) sdo.size,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   245
                            (uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   246
                    cout << setw(2) << (unsigned int) sdo.data[i];
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   247
                    if ((i + 1) % 16 == 0 && i < sdo.size - 1) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   248
                        cout << endl << indent << "    ";
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   249
                    } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   250
                        cout << " ";
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   251
                    }
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   252
                }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   253
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   254
                cout << endl;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   255
                if (sdo.size > EC_MAX_SDO_DATA_SIZE) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   256
                    cout << indent << "    ..." << endl;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   257
                }
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   258
            }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   259
        } else {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   260
            cout << indent << "  None." << endl;
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
1966
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   263
        cout << indent << "IDN configuration:" << endl;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   264
        if (configIter->idn_count) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   265
            for (j = 0; j < configIter->idn_count; j++) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   266
                m.getConfigIdn(&idn, configIter->config_index, j);
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   267
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   268
                cout << indent << "  Drive " << (unsigned int) idn.drive_no
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   269
                    << ", " << outputIdn(idn.idn)
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   270
                    << ", " << dec << idn.size << " byte" << endl;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   271
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   272
                cout << indent << "    " << hex << setfill('0');
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   273
                for (i = 0; i < min((uint32_t) idn.size,
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   274
                            (uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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parents: 1918
diff changeset
   275
                    cout << setw(2) << (unsigned int) idn.data[i];
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   276
                    if ((i + 1) % 16 == 0 && i < idn.size - 1) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   277
                        cout << endl << indent << "    ";
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   278
                    } else {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   279
                        cout << " ";
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   280
                    }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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parents: 1918
diff changeset
   281
                }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   282
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
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   283
                cout << endl;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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parents: 1918
diff changeset
   284
                if (idn.size > EC_MAX_IDN_DATA_SIZE) {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   285
                    cout << indent << "    ..." << endl;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   286
                }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
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parents: 1918
diff changeset
   287
            }
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   288
        } else {
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
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   289
            cout << indent << "  None." << endl;
23c638a81fe7 Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents: 1918
diff changeset
   290
        }
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   291
        if (configIter->dc_assign_activate) {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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parents: 1373
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   292
            int i;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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   293
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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parents: 1804
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   294
            cout << indent << "DC configuration:" << endl
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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parents: 1804
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   295
                << indent << "  AssignActivate: 0x" << hex << setfill('0')
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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parents: 1373
diff changeset
   296
                << setw(4) << configIter->dc_assign_activate << endl;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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parents: 1373
diff changeset
   297
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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parents: 1804
diff changeset
   298
            cout << indent << "         Cycle [ns]   Shift [ns]" << endl;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   299
            for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   300
                cout << indent << "  SYNC" << dec << i << "  "
1456
bd1f69a429f3 Fixed output of 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   301
                    << setfill(' ') << right
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   302
                    << setw(11) << configIter->dc_sync[i].cycle_time
1456
bd1f69a429f3 Fixed output of 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   303
                    << "  "
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   304
                    << setw(11) << configIter->dc_sync[i].shift_time
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   305
                    << endl;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   306
            }
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   307
        }
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
        cout << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
/*****************************************************************************/
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
/** Lists the bus configuration.
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
 */
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   316
void CommandConfig::listConfigs(
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   317
        MasterDevice &m,
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   318
        const ConfigList &configList,
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   319
        bool doIndent
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   320
        )
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
{
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
    ConfigList::const_iterator configIter;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
    stringstream str;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
    Info info;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
    typedef list<Info> InfoList;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
    InfoList list;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
    InfoList::const_iterator iter;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
    unsigned int maxAliasWidth = 0, maxPosWidth = 0,
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   329
                 maxSlavePosWidth = 0, maxStateWidth = 0;
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   330
    ec_ioctl_slave_t slave;
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   331
    string indent(doIndent ? "  " : "");
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    for (configIter = configList.begin();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
            configIter != configList.end();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
            configIter++) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
        str << dec << configIter->alias;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
        info.alias = str.str();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
        str.clear();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
        str.str("");
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
        str << configIter->position;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
        info.pos = str.str();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
        str.clear();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
        str.str("");
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
        str << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
            << "0x" << setw(8) << configIter->vendor_id
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
            << "/0x" << setw(8) << configIter->product_code;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
        info.ident = str.str();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
        str.clear();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
        str.str("");
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   354
        if (configIter->slave_position != -1) {
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   355
            m.getSlave(&slave, configIter->slave_position);
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   356
1172
74ee632c3b5e Fixed attached slave position in 'ethercat config' -> decimal.
Florian Pose <fp@igh-essen.com>
parents: 1167
diff changeset
   357
            str << dec << configIter->slave_position;
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   358
            info.slavePos = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   359
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   360
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   361
1918
c58633eed20b Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents: 1880
diff changeset
   362
            info.state = alStateString(slave.al_state);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   363
        } else {
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   364
            str << "-";
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   365
            info.slavePos = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   366
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   367
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   368
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   369
            str << "-";
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   370
            info.state = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   371
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   372
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   373
        }
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
        list.push_back(info);
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
        if (info.alias.length() > maxAliasWidth)
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
            maxAliasWidth = info.alias.length();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
        if (info.pos.length() > maxPosWidth)
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
            maxPosWidth = info.pos.length();
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   381
        if (info.slavePos.length() > maxSlavePosWidth)
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   382
            maxSlavePosWidth = info.slavePos.length();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   383
        if (info.state.length() > maxStateWidth)
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   384
            maxStateWidth = info.state.length();
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
    for (iter = list.begin(); iter != list.end(); iter++) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   388
        cout << indent << setfill(' ') << right
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
            << setw(maxAliasWidth) << iter->alias
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
            << ":" << left
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
            << setw(maxPosWidth) << iter->pos
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
            << "  "
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
            << iter->ident
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
            << "  "
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   395
            << setw(maxSlavePosWidth) << iter->slavePos << "  "
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   396
            << setw(maxStateWidth) << iter->state << "  "
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
            << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
/*****************************************************************************/