author | Florian Pose <fp@igh.de> |
Fri, 08 Sep 2017 13:16:57 +0200 | |
branch | stable-1.5 |
changeset 2683 | 1079c149f22c |
parent 2542 | 8dd49f6f6d32 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
|
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3 |
* $Id$ |
11c0b2caa253
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4 |
* |
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5 |
* Copyright (C) 2006-2014 Florian Pose, Ingenieurgemeinschaft IgH |
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6 |
* |
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|
7 |
* This file is part of the IgH EtherCAT Master. |
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8 |
* |
11c0b2caa253
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|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it and/or |
11c0b2caa253
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10 |
* modify it under the terms of the GNU General Public License version 2, as |
11c0b2caa253
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|
11 |
* published by the Free Software Foundation. |
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12 |
* |
11c0b2caa253
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13 |
* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
11c0b2caa253
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14 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
11c0b2caa253
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|
15 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
11c0b2caa253
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|
16 |
* Public License for more details. |
11c0b2caa253
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17 |
* |
11c0b2caa253
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18 |
* You should have received a copy of the GNU General Public License along |
11c0b2caa253
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|
19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
11c0b2caa253
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|
20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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|
22 |
* --- |
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23 |
* |
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24 |
* The license mentioned above concerns the source code only. Using the |
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25 |
* EtherCAT technology and brand is only permitted in compliance with the |
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26 |
* industrial property and similar rights of Beckhoff Automation GmbH. |
1142 | 27 |
* |
28 |
****************************************************************************/ |
|
29 |
||
30 |
#include <iostream> |
|
31 |
#include <iomanip> |
|
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#include <string.h> |
1142 | 33 |
using namespace std; |
34 |
||
35 |
#include "CommandXml.h" |
|
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#include "MasterDevice.h" |
1142 | 37 |
|
38 |
/*****************************************************************************/ |
|
39 |
||
40 |
CommandXml::CommandXml(): |
|
41 |
Command("xml", "Generate slave information XML.") |
|
42 |
{ |
|
43 |
} |
|
44 |
||
45 |
/*****************************************************************************/ |
|
46 |
||
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string CommandXml::helpString(const string &binaryBaseName) const |
1142 | 48 |
{ |
49 |
stringstream str; |
|
50 |
||
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51 |
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl |
1142 | 52 |
<< endl |
53 |
<< getBriefDescription() << endl |
|
54 |
<< endl |
|
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55 |
<< "Note that the PDO information can either originate" << endl |
1142 | 56 |
<< "from the SII or from the CoE communication area. For" << endl |
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<< "slaves, that support configuring PDO assignment and" << endl |
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58 |
<< "mapping, the output depends on the last configuration." << endl |
1142 | 59 |
<< endl |
60 |
<< "Command-specific options:" << endl |
|
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<< " --alias -a <alias>" << endl |
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62 |
<< " --position -p <pos> Slave selection. See the help of" << endl |
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63 |
<< " the 'slaves' command." << endl |
1142 | 64 |
<< endl |
65 |
<< numericInfo(); |
|
66 |
||
67 |
return str.str(); |
|
68 |
} |
|
69 |
||
70 |
/****************************************************************************/ |
|
71 |
||
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72 |
void CommandXml::execute(const StringVector &args) |
1142 | 73 |
{ |
1151 | 74 |
SlaveList slaves; |
75 |
SlaveList::const_iterator si; |
|
76 |
||
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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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81 |
} |
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82 |
|
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Added getSingleMasterIndex() for command-line tool.
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|
83 |
MasterDevice m(getSingleMasterIndex()); |
1142 | 84 |
m.open(MasterDevice::Read); |
1151 | 85 |
slaves = selectedSlaves(m); |
1142 | 86 |
|
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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87 |
cout << "<?xml version=\"1.0\" ?>" << endl; |
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88 |
if (slaves.size() > 1) { |
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cout << "<EtherCATInfoList>" << endl; |
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} |
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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91 |
|
1151 | 92 |
for (si = slaves.begin(); si != slaves.end(); si++) { |
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93 |
generateSlaveXml(m, *si, slaves.size() > 1 ? 1 : 0); |
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94 |
} |
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95 |
|
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96 |
if (slaves.size() > 1) { |
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97 |
cout << "</EtherCATInfoList>" << endl; |
1142 | 98 |
} |
99 |
} |
|
100 |
||
101 |
/****************************************************************************/ |
|
102 |
||
1151 | 103 |
void CommandXml::generateSlaveXml( |
104 |
MasterDevice &m, |
|
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105 |
const ec_ioctl_slave_t &slave, |
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106 |
unsigned int indent |
1151 | 107 |
) |
1142 | 108 |
{ |
109 |
ec_ioctl_slave_sync_t sync; |
|
110 |
ec_ioctl_slave_sync_pdo_t pdo; |
|
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111 |
string pdoType, in; |
1142 | 112 |
ec_ioctl_slave_sync_pdo_entry_t entry; |
113 |
unsigned int i, j, k; |
|
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114 |
|
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115 |
for (i = 0; i < indent; i++) { |
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116 |
in += " "; |
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117 |
} |
2421 | 118 |
|
1142 | 119 |
cout |
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120 |
<< in << "<EtherCATInfo>" << endl |
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121 |
<< in << " <!-- Slave " << dec << slave.position << " -->" << endl |
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122 |
<< in << " <Vendor>" << endl |
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123 |
<< in << " <Id>" << slave.vendor_id << "</Id>" << endl |
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124 |
<< in << " </Vendor>" << endl |
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|
125 |
<< in << " <Descriptions>" << endl |
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|
126 |
<< in << " <Devices>" << endl |
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127 |
<< in << " <Device>" << endl |
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|
128 |
<< in << " <Type ProductCode=\"#x" |
1142 | 129 |
<< hex << setfill('0') << setw(8) << slave.product_code |
130 |
<< "\" RevisionNo=\"#x" |
|
131 |
<< hex << setfill('0') << setw(8) << slave.revision_number |
|
132 |
<< "\">" << slave.order << "</Type>" << endl; |
|
133 |
||
134 |
if (strlen(slave.name)) { |
|
135 |
cout |
|
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|
136 |
<< in << " <Name><![CDATA[" |
1142 | 137 |
<< slave.name |
138 |
<< "]]></Name>" << endl; |
|
139 |
} |
|
140 |
||
141 |
for (i = 0; i < slave.sync_count; i++) { |
|
1151 | 142 |
m.getSync(&sync, slave.position, i); |
1142 | 143 |
|
144 |
cout |
|
2542
8dd49f6f6d32
Fixed hex display of slave position; thanks to Henry Bausley.
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|
145 |
<< in << " <Sm Enable=\"" |
8dd49f6f6d32
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|
146 |
<< dec << (unsigned int) sync.enable |
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|
147 |
<< "\" StartAddress=\"#x" << hex << sync.physical_start_address |
2542
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|
148 |
<< "\" ControlByte=\"#x" |
8dd49f6f6d32
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|
149 |
<< hex << (unsigned int) sync.control_register |
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|
150 |
<< "\" DefaultSize=\"" << dec << sync.default_size |
1142 | 151 |
<< "\" />" << endl; |
152 |
} |
|
153 |
||
154 |
for (i = 0; i < slave.sync_count; i++) { |
|
1151 | 155 |
m.getSync(&sync, slave.position, i); |
1142 | 156 |
|
157 |
for (j = 0; j < sync.pdo_count; j++) { |
|
1151 | 158 |
m.getPdo(&pdo, slave.position, i, j); |
1142 | 159 |
pdoType = (sync.control_register & 0x04 ? "R" : "T"); |
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
160 |
pdoType += "xPdo"; // last 2 letters lowercase in XML! |
1142 | 161 |
|
162 |
cout |
|
1474
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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|
163 |
<< in << " <" << pdoType |
1142 | 164 |
<< " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl |
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|
165 |
<< in << " <Index>#x" |
1142 | 166 |
<< hex << setfill('0') << setw(4) << pdo.index |
167 |
<< "</Index>" << endl |
|
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changeset
|
168 |
<< in << " <Name>" << pdo.name << "</Name>" << endl; |
1142 | 169 |
|
170 |
for (k = 0; k < pdo.entry_count; k++) { |
|
1151 | 171 |
m.getPdoEntry(&entry, slave.position, i, j, k); |
1142 | 172 |
|
173 |
cout |
|
1474
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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|
174 |
<< in << " <Entry>" << endl |
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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|
175 |
<< in << " <Index>#x" |
1142 | 176 |
<< hex << setfill('0') << setw(4) << entry.index |
177 |
<< "</Index>" << endl; |
|
178 |
if (entry.index) |
|
179 |
cout |
|
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|
180 |
<< in << " <SubIndex>" |
1142 | 181 |
<< dec << (unsigned int) entry.subindex |
182 |
<< "</SubIndex>" << endl; |
|
2421 | 183 |
|
1142 | 184 |
cout |
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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parents:
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|
185 |
<< in << " <BitLen>" |
1142 | 186 |
<< dec << (unsigned int) entry.bit_length |
187 |
<< "</BitLen>" << endl; |
|
188 |
||
189 |
if (entry.index) { |
|
190 |
cout |
|
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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parents:
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diff
changeset
|
191 |
<< in << " <Name>" << entry.name |
1142 | 192 |
<< "</Name>" << endl |
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
193 |
<< in << " <DataType>"; |
1142 | 194 |
|
195 |
if (entry.bit_length == 1) { |
|
196 |
cout << "BOOL"; |
|
197 |
} else if (!(entry.bit_length % 8)) { |
|
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Allow BITx types in XML output.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
198 |
if (entry.bit_length <= 64) { |
1142 | 199 |
cout << "UINT" << (unsigned int) entry.bit_length; |
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Allow BITx types in XML output.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
200 |
} else { |
1142 | 201 |
cout << "STRING(" |
202 |
<< (unsigned int) (entry.bit_length / 8) |
|
203 |
<< ")"; |
|
1560
0ca50da62c52
Allow BITx types in XML output.
Florian Pose <fp@igh-essen.com>
parents:
1474
diff
changeset
|
204 |
} |
1142 | 205 |
} else { |
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Allow BITx types in XML output.
Florian Pose <fp@igh-essen.com>
parents:
1474
diff
changeset
|
206 |
cout << "BIT" << (unsigned int) entry.bit_length; |
1142 | 207 |
} |
208 |
||
1560
0ca50da62c52
Allow BITx types in XML output.
Florian Pose <fp@igh-essen.com>
parents:
1474
diff
changeset
|
209 |
cout << "</DataType>" << endl; |
1142 | 210 |
} |
211 |
||
1474
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
212 |
cout << in << " </Entry>" << endl; |
1142 | 213 |
} |
214 |
||
215 |
cout |
|
1474
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
216 |
<< in << " </" << pdoType << ">" << endl; |
1142 | 217 |
} |
218 |
} |
|
219 |
||
220 |
cout |
|
1474
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
221 |
<< in << " </Device>" << endl |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
222 |
<< in << " </Devices>" << endl |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
223 |
<< in << " </Descriptions>" << endl |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
224 |
<< in << "</EtherCATInfo>" << endl; |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
225 |
} |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
226 |
|
1142 | 227 |
/*****************************************************************************/ |