tool/CommandAlias.cpp
author Florian Pose <fp@igh-essen.com>
Fri, 25 Jul 2008 08:54:59 +0000
changeset 1147 0eac1ee8512a
parent 1144 7dbfdd61812c
child 1151 1fc1535dec29
permissions -rw-r--r--
Show attached slave position and state in 'ethercat config'.
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/*****************************************************************************
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 *
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 * $Id$
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 *
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 ****************************************************************************/
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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 "CommandAlias.h"
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#include "sii_crc.h"
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#include "byteorder.h"
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/*****************************************************************************/
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CommandAlias::CommandAlias():
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    Command("alias", "Write alias addresses.")
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{
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}
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/*****************************************************************************/
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string CommandAlias::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS] <ALIAS>" << endl
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        << endl
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        << getBriefDescription() << endl
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        << endl
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        << "Arguments:" << endl
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        << "  ALIAS must be an unsigned 16 bit number. Zero means" << endl
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        << "        removing an alias address." << endl
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        << endl << endl
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        << "Command-specific options:" << endl
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        << "  --slave -s <index>  Positive numerical ring position, or 'all'"
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        << endl
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        << "                      for all slaves (default). The --force"
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        << endl
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        << "                      option is required in this case." << endl
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        << "  --force -f          Acknowledge writing aliases of all" << endl
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        << "                      slaves." << 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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/** Writes the Secondary slave address (alias) to the slave's SII.
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 */
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void CommandAlias::execute(MasterDevice &m, const StringVector &args)
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{
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    uint16_t alias;
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    stringstream err, strAlias;
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    int number;
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    unsigned int numSlaves, i;
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    if (args.size() != 1) {
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        err << "'" << getName() << "' takes exactly one argument!";
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        throwInvalidUsageException(err);
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    }
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    strAlias << args[0];
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    strAlias
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        >> resetiosflags(ios::basefield) // guess base from prefix
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        >> number;
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    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
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        err << "Invalid alias '" << args[0] << "'!";
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        throwInvalidUsageException(err);
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    }
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    alias = number;
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    if (slavePosition == -1) {
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        if (!force) {
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            err << "This will write the alias addresses of all slaves to "
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                << alias << "! Please specify --force to proceed.";
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            throwCommandException(err);
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        }
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        m.open(MasterDevice::ReadWrite);
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        numSlaves = m.slaveCount();
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        for (i = 0; i < numSlaves; i++) {
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            writeSlaveAlias(m, i, alias);
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        }
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    } else {
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        m.open(MasterDevice::ReadWrite);
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        writeSlaveAlias(m, slavePosition, alias);
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    }
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}
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/*****************************************************************************/
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/** Writes the Secondary slave address (alias) to the slave's SII.
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 */
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void CommandAlias::writeSlaveAlias(
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        MasterDevice &m,
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        uint16_t slavePosition,
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        uint16_t alias
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        )
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{
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    ec_ioctl_slave_sii_t data;
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    ec_ioctl_slave_t slave;
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    stringstream err;
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    uint8_t crc;
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    m.getSlave(&slave, slavePosition);
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    if (slave.sii_nwords < 8) {
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        err << "Current SII contents are too small to set an alias "
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            << "(" << slave.sii_nwords << " words)!";
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        throwCommandException(err);
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    }
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    // read first 8 SII words
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    data.slave_position = slavePosition;
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    data.offset = 0;
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    data.nwords = 8;
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    data.words = new uint16_t[data.nwords];
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    try {
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        m.readSii(&data);
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    } catch (MasterDeviceException &e) {
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        delete [] data.words;
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        err << "Failed to read SII: " << e.what();
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        throwCommandException(err);
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    }
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    // write new alias address in word 4
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    data.words[4] = cputole16(alias);
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    // calculate checksum over words 0 to 6
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    crc = calcSiiCrc((const uint8_t *) data.words, 14);
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    // write new checksum into first byte of word 7
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    *(uint8_t *) (data.words + 7) = crc;
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    // write first 8 words with new alias and checksum
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    try {
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        m.writeSii(&data);
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    } catch (MasterDeviceException &e) {
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        delete [] data.words;
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        err << "Failed to read SII: " << e.what();
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        throwCommandException(err);
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    }
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    delete [] data.words;
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}
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/*****************************************************************************/