| author | Florian Pose <fp@igh-essen.com> |
| Tue, 24 Feb 2009 12:51:39 +0000 | |
| changeset 1363 | 11c0b2caa253 |
| parent 1327 | 4d179b06dd3c |
| child 1373 | e651000f1ff1 |
| permissions | -rw-r--r-- |
| 1142 | 1 |
/***************************************************************************** |
2 |
* |
|
|
1363
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
3 |
* $Id$ |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
4 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
5 |
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
6 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
7 |
* This file is part of the IgH EtherCAT Master. |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
8 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it and/or |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
10 |
* modify it under the terms of the GNU General Public License version 2, as |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
11 |
* published by the Free Software Foundation. |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
12 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
13 |
* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
14 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
15 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
16 |
* Public License for more details. |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
17 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
18 |
* You should have received a copy of the GNU General Public License along |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
21 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
22 |
* --- |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
23 |
* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
24 |
* The license mentioned above concerns the source code only. Using the |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
25 |
* EtherCAT technology and brand is only permitted in compliance with the |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
26 |
* industrial property and similar rights of Beckhoff Automation GmbH. |
| 1142 | 27 |
* |
28 |
****************************************************************************/ |
|
29 |
||
30 |
#include <iostream> |
|
31 |
#include <iomanip> |
|
32 |
using namespace std; |
|
33 |
||
34 |
#include "CommandSdos.h" |
|
35 |
||
36 |
/*****************************************************************************/ |
|
37 |
||
38 |
CommandSdos::CommandSdos(): |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
39 |
SdoCommand("sdos", "List SDO dictionaries.")
|
| 1142 | 40 |
{
|
41 |
} |
|
42 |
||
43 |
/*****************************************************************************/ |
|
44 |
||
45 |
string CommandSdos::helpString() const |
|
46 |
{
|
|
47 |
stringstream str; |
|
48 |
||
49 |
str << getName() << " [OPTIONS]" << endl |
|
50 |
<< endl |
|
51 |
<< getBriefDescription() << endl |
|
52 |
<< endl |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
53 |
<< "SDO dictionary information is displayed in two layers," << endl |
| 1142 | 54 |
<< "which are indented accordingly:" << endl |
55 |
<< endl |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
56 |
<< "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl |
| 1142 | 57 |
<< endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
58 |
<< " SDO 0x1018, \"Identity object\"" << endl |
| 1142 | 59 |
<< endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
60 |
<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl |
| 1142 | 61 |
<< " hexadecimal) followed by the data type, the length in" << endl |
62 |
<< " bit, and the description. Example:" << endl |
|
63 |
<< endl |
|
64 |
<< " 0x1018:01, uint32, 32 bit, \"Vendor id\"" << endl |
|
65 |
<< endl |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
66 |
<< "If the --quiet option is given, only the SDOs are output." |
| 1142 | 67 |
<< endl << endl |
68 |
<< "Command-specific options:" << endl |
|
|
1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
|
69 |
<< " --alias -a <alias>" << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
|
70 |
<< " --position -p <pos> Slave selection. See the help of" << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
|
71 |
<< " the 'slaves' command." << endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
72 |
<< " --quiet -q Only output SDOs (without the" << endl |
|
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
73 |
<< " SDO entries)." << endl |
| 1142 | 74 |
<< endl |
75 |
<< numericInfo(); |
|
76 |
||
77 |
return str.str(); |
|
78 |
} |
|
79 |
||
80 |
/****************************************************************************/ |
|
81 |
||
82 |
void CommandSdos::execute(MasterDevice &m, const StringVector &args) |
|
83 |
{
|
|
| 1151 | 84 |
SlaveList slaves; |
85 |
SlaveList::const_iterator si; |
|
86 |
bool showHeader; |
|
87 |
||
| 1142 | 88 |
m.open(MasterDevice::Read); |
| 1151 | 89 |
slaves = selectedSlaves(m); |
90 |
showHeader = slaves.size() > 1; |
|
| 1142 | 91 |
|
| 1151 | 92 |
for (si = slaves.begin(); si != slaves.end(); si++) {
|
93 |
listSlaveSdos(m, *si, showHeader); |
|
| 1142 | 94 |
} |
95 |
} |
|
96 |
||
97 |
/****************************************************************************/ |
|
98 |
||
99 |
void CommandSdos::listSlaveSdos( |
|
100 |
MasterDevice &m, |
|
| 1151 | 101 |
const ec_ioctl_slave_t &slave, |
102 |
bool showHeader |
|
| 1142 | 103 |
) |
104 |
{
|
|
105 |
ec_ioctl_slave_sdo_t sdo; |
|
106 |
ec_ioctl_slave_sdo_entry_t entry; |
|
107 |
unsigned int i, j; |
|
|
1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1157
diff
changeset
|
108 |
const DataType *d; |
| 1142 | 109 |
|
| 1151 | 110 |
if (showHeader) |
111 |
cout << "=== Slave " << slave.position << " ===" << endl; |
|
| 1142 | 112 |
|
113 |
for (i = 0; i < slave.sdo_count; i++) {
|
|
| 1151 | 114 |
m.getSdo(&sdo, slave.position, i); |
| 1142 | 115 |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
116 |
cout << "SDO 0x" |
| 1142 | 117 |
<< hex << setfill('0')
|
118 |
<< setw(4) << sdo.sdo_index |
|
119 |
<< ", \"" << sdo.name << "\"" << endl; |
|
120 |
||
121 |
if (getVerbosity() == Quiet) |
|
122 |
continue; |
|
123 |
||
124 |
for (j = 0; j <= sdo.max_subindex; j++) {
|
|
| 1151 | 125 |
m.getSdoEntry(&entry, slave.position, -i, j); |
| 1142 | 126 |
|
127 |
cout << " 0x" << hex << setfill('0')
|
|
128 |
<< setw(4) << sdo.sdo_index << ":" |
|
129 |
<< setw(2) << (unsigned int) entry.sdo_entry_subindex |
|
130 |
<< ", "; |
|
131 |
||
132 |
if ((d = findDataType(entry.data_type))) {
|
|
133 |
cout << d->name; |
|
134 |
} else {
|
|
135 |
cout << "type " << setw(4) << entry.data_type; |
|
136 |
} |
|
137 |
||
138 |
cout << ", " << dec << entry.bit_length << " bit, \"" |
|
139 |
<< entry.description << "\"" << endl; |
|
140 |
} |
|
141 |
} |
|
142 |
} |
|
143 |
||
144 |
/*****************************************************************************/ |