| author | Florian Pose <fp@igh-essen.com> |
| Tue, 24 Feb 2009 12:51:39 +0000 | |
| changeset 1363 | 11c0b2caa253 |
| parent 1337 | 0253c74d0940 |
| child 1373 | e651000f1ff1 |
| permissions | -rw-r--r-- |
| 1142 | 1 |
/***************************************************************************** |
2 |
* |
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* $Id$ |
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11c0b2caa253
Improved and added license headers.
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parents:
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* |
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11c0b2caa253
Improved and added license headers.
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|
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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11c0b2caa253
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Florian Pose <fp@igh-essen.com>
parents:
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* |
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11c0b2caa253
Improved and added license headers.
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* This file is part of the IgH EtherCAT Master. |
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11c0b2caa253
Improved and added license headers.
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parents:
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1337
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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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11c0b2caa253
Improved and added license headers.
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parents:
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* modify it under the terms of the GNU General Public License version 2, as |
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11c0b2caa253
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parents:
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|
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* published by the Free Software Foundation. |
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11c0b2caa253
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* |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
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|
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
|
11c0b2caa253
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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11c0b2caa253
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
|
11c0b2caa253
Improved and added license headers.
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parents:
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|
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* Public License for more details. |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
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|
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* |
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11c0b2caa253
Improved and added license headers.
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parents:
1337
diff
changeset
|
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* You should have received a copy of the GNU General Public License along |
|
11c0b2caa253
Improved and added license headers.
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parents:
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|
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* with the IgH EtherCAT Master; if not, write to the Free Software |
|
11c0b2caa253
Improved and added license headers.
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parents:
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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11c0b2caa253
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* |
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11c0b2caa253
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* --- |
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11c0b2caa253
Improved and added license headers.
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parents:
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* |
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11c0b2caa253
Improved and added license headers.
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parents:
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|
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* The license mentioned above concerns the source code only. Using the |
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11c0b2caa253
Improved and added license headers.
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parents:
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|
25 |
* EtherCAT technology and brand is only permitted in compliance with the |
|
11c0b2caa253
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* industrial property and similar rights of Beckhoff Automation GmbH. |
| 1142 | 27 |
* |
28 |
****************************************************************************/ |
|
29 |
||
30 |
#include <iostream> |
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31 |
#include <iomanip> |
|
32 |
#include <list> |
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#include <string.h> |
| 1142 | 34 |
using namespace std; |
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#include "CommandSlaves.h" |
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/*****************************************************************************/ |
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CommandSlaves::CommandSlaves(): |
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41 |
Command("slaves", "Display slaves on the bus.")
|
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42 |
{
|
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} |
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/*****************************************************************************/ |
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string CommandSlaves::helpString() const |
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{
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stringstream str; |
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str << getName() << " [OPTIONS]" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
|
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<< "If the --verbose option is not given, the slaves are" << endl |
|
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<< "displayed one-per-line. Example:" << endl |
|
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<< endl |
|
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<< "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V" << endl |
|
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<< "| | | | | |" << endl |
|
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<< "| | | | | \\- Name from the SII if avaliable," << endl |
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<< "| | | | | otherwise vendor ID and product" << endl |
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<< "| | | | | code (both hexadecimal)." << endl |
| 1142 | 63 |
<< "| | | | \\- Error flag. '+' means no error," << endl |
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<< "| | | | 'E' means that scan or" << endl |
| 1142 | 65 |
<< "| | | | configuration failed." << endl |
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<< "| | | \\- Current application-layer state." << endl |
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<< "| | \\- Decimal relative position to the last" << endl |
| 1142 | 68 |
<< "| | slave with an alias address set." << endl |
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<< "| \\- Decimal alias address of this slave (if set)," << endl |
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<< "| otherwise of the last slave with an alias set," << endl |
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04d1c950cf9d
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<< "| or zero, if no alias was encountered up to this" << endl |
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<< "| position." << endl |
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<< "\\- Absolute ring position in the bus." << endl |
| 1142 | 74 |
<< endl |
75 |
<< "If the --verbose option is given, a detailed (multi-line)" << endl |
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<< "description is output for each slave." << endl |
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<< endl |
|
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<< "Slave selection:" << endl |
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04d1c950cf9d
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<< " Slaves for this and other commands can be selected with" << endl |
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<< " the --alias and --position parameters as follows:" << endl |
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04d1c950cf9d
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<< endl |
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04d1c950cf9d
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<< " 1) If neither the --alias nor the --position option" << endl |
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<< " is given, all slaves are selected." << endl |
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04d1c950cf9d
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<< " 2) If only the --position option is given, it is" << endl |
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04d1c950cf9d
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<< " interpreted as an absolute ring position and" << endl |
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04d1c950cf9d
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<< " a slave with this position is matched." << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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<< " 3) If only the --alias option is given, all slaves" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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<< " with the given alias address and subsequent" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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<< " slaves before a slave with a different alias" << endl |
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04d1c950cf9d
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<< " address match (use -p0 if only the slaves" << endl |
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<< " with the given alias are desired, see 4))." << endl |
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<< " 4) If both the --alias and the --position option are" << endl |
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<< " given, the latter is interpreted as relative" << endl |
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<< " position behind any slave with the given alias." << endl |
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<< endl |
| 1142 | 96 |
<< "Command-specific options:" << endl |
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<< " --alias -a <alias> Slave alias (see above)." << endl |
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<< " --position -p <pos> Slave position (see above)." << endl |
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<< " --verbose -v Show detailed slave information." << endl |
| 1142 | 100 |
<< 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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void CommandSlaves::execute(MasterDevice &m, const StringVector &args) |
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{
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| 1151 | 110 |
SlaveList slaves; |
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||
| 1142 | 112 |
m.open(MasterDevice::Read); |
| 1151 | 113 |
slaves = selectedSlaves(m); |
| 1142 | 114 |
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115 |
if (getVerbosity() == Verbose) {
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| 1151 | 116 |
showSlaves(m, slaves); |
| 1142 | 117 |
} else {
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| 1151 | 118 |
listSlaves(m, slaves); |
| 1142 | 119 |
} |
120 |
} |
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/****************************************************************************/ |
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void CommandSlaves::listSlaves( |
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MasterDevice &m, |
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| 1151 | 126 |
const SlaveList &slaves |
| 1142 | 127 |
) |
128 |
{
|
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ec_ioctl_master_t master; |
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unsigned int i; |
| 1142 | 131 |
ec_ioctl_slave_t slave; |
132 |
uint16_t lastAlias, aliasIndex; |
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Info info; |
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typedef list<Info> InfoList; |
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InfoList infoList; |
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InfoList::const_iterator iter; |
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stringstream str; |
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unsigned int maxPosWidth = 0, maxAliasWidth = 0, |
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maxRelPosWidth = 0, maxStateWidth = 0; |
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||
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141 |
m.getMaster(&master); |
| 1142 | 142 |
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143 |
lastAlias = 0; |
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aliasIndex = 0; |
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|
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for (i = 0; i < master.slave_count; i++) {
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| 1142 | 146 |
m.getSlave(&slave, i); |
147 |
||
148 |
if (slave.alias) {
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lastAlias = slave.alias; |
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aliasIndex = 0; |
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} |
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||
| 1151 | 153 |
if (slaveInList(slave, slaves)) {
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| 1142 | 154 |
str << dec << i; |
155 |
info.pos = str.str(); |
|
156 |
str.clear(); |
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157 |
str.str("");
|
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str << lastAlias; |
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160 |
info.alias = str.str(); |
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161 |
str.str("");
|
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str << aliasIndex; |
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info.relPos = str.str(); |
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str.str("");
|
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||
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Renamed state field to al_state.
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|
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info.state = alStateString(slave.al_state); |
| 1142 | 168 |
info.flag = (slave.error_flag ? 'E' : '+'); |
169 |
||
170 |
if (strlen(slave.name)) {
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171 |
info.name = slave.name; |
|
172 |
} else {
|
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str << "0x" << hex << setfill('0')
|
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174 |
<< setw(8) << slave.vendor_id << ":0x" |
|
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<< setw(8) << slave.product_code; |
|
176 |
info.name = str.str(); |
|
177 |
str.str("");
|
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178 |
} |
|
179 |
||
180 |
||
181 |
infoList.push_back(info); |
|
182 |
||
183 |
if (info.pos.length() > maxPosWidth) |
|
184 |
maxPosWidth = info.pos.length(); |
|
185 |
if (info.alias.length() > maxAliasWidth) |
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maxAliasWidth = info.alias.length(); |
|
187 |
if (info.relPos.length() > maxRelPosWidth) |
|
188 |
maxRelPosWidth = info.relPos.length(); |
|
189 |
if (info.state.length() > maxStateWidth) |
|
190 |
maxStateWidth = info.state.length(); |
|
191 |
} |
|
192 |
||
193 |
aliasIndex++; |
|
194 |
} |
|
195 |
||
196 |
for (iter = infoList.begin(); iter != infoList.end(); iter++) {
|
|
197 |
cout << setfill(' ') << right
|
|
198 |
<< setw(maxPosWidth) << iter->pos << " " |
|
199 |
<< setw(maxAliasWidth) << iter->alias |
|
200 |
<< ":" << left |
|
201 |
<< setw(maxRelPosWidth) << iter->relPos << " " |
|
202 |
<< setw(maxStateWidth) << iter->state << " " |
|
203 |
<< iter->flag << " " |
|
204 |
<< iter->name << endl; |
|
205 |
} |
|
206 |
} |
|
207 |
||
208 |
/****************************************************************************/ |
|
209 |
||
| 1151 | 210 |
void CommandSlaves::showSlaves( |
| 1142 | 211 |
MasterDevice &m, |
| 1151 | 212 |
const SlaveList &slaves |
| 1142 | 213 |
) |
214 |
{
|
|
| 1151 | 215 |
SlaveList::const_iterator si; |
216 |
||
217 |
for (si = slaves.begin(); si != slaves.end(); si++) {
|
|
218 |
cout << "=== Slave " << dec << si->position << " ===" << endl; |
|
219 |
||
220 |
if (si->alias) |
|
221 |
cout << "Alias: " << si->alias << endl; |
|
222 |
||
223 |
cout |
|
224 |
<< "State: " << alStateString(si->al_state) << endl |
|
225 |
<< "Flag: " << (si->error_flag ? 'E' : '+') << endl |
|
226 |
<< "Identity:" << endl |
|
227 |
<< " Vendor Id: 0x" |
|
228 |
<< hex << setfill('0')
|
|
229 |
<< setw(8) << si->vendor_id << endl |
|
230 |
<< " Product code: 0x" |
|
231 |
<< setw(8) << si->product_code << endl |
|
232 |
<< " Revision number: 0x" |
|
233 |
<< setw(8) << si->revision_number << endl |
|
234 |
<< " Serial number: 0x" |
|
235 |
<< setw(8) << si->serial_number << endl; |
|
236 |
||
237 |
if (si->mailbox_protocols) {
|
|
|
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Fixed minor supported mailbox protocol display bug.
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|
238 |
list<string> protoList; |
|
15e8768b304f
Fixed minor supported mailbox protocol display bug.
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changeset
|
239 |
list<string>::const_iterator protoIter; |
|
15e8768b304f
Fixed minor supported mailbox protocol display bug.
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changeset
|
240 |
|
| 1151 | 241 |
cout << "Mailboxes:" << endl |
|
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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|
242 |
<< " Bootstrap RX: 0x" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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|
243 |
<< hex << setw(4) << si->boot_rx_mailbox_offset << "/" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff
changeset
|
244 |
<< dec << si->boot_rx_mailbox_size |
| 1151 | 245 |
<< ", TX: 0x" |
|
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
246 |
<< hex << setw(4) << si->boot_tx_mailbox_offset << "/" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
247 |
<< dec << si->boot_tx_mailbox_size << endl |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
248 |
<< " Standard RX: 0x" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
249 |
<< hex << setw(4) << si->std_rx_mailbox_offset << "/" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
250 |
<< dec << si->std_rx_mailbox_size |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
251 |
<< ", TX: 0x" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
252 |
<< hex << setw(4) << si->std_tx_mailbox_offset << "/" |
|
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
253 |
<< dec << si->std_tx_mailbox_size << endl |
| 1151 | 254 |
<< " Supported protocols: "; |
255 |
||
256 |
if (si->mailbox_protocols & EC_MBOX_AOE) {
|
|
257 |
protoList.push_back("AoE");
|
|
258 |
} |
|
259 |
if (si->mailbox_protocols & EC_MBOX_EOE) {
|
|
260 |
protoList.push_back("EoE");
|
|
261 |
} |
|
262 |
if (si->mailbox_protocols & EC_MBOX_COE) {
|
|
263 |
protoList.push_back("CoE");
|
|
264 |
} |
|
265 |
if (si->mailbox_protocols & EC_MBOX_FOE) {
|
|
266 |
protoList.push_back("FoE");
|
|
267 |
} |
|
268 |
if (si->mailbox_protocols & EC_MBOX_SOE) {
|
|
269 |
protoList.push_back("SoE");
|
|
270 |
} |
|
271 |
if (si->mailbox_protocols & EC_MBOX_VOE) {
|
|
272 |
protoList.push_back("VoE");
|
|
273 |
} |
|
274 |
||
275 |
for (protoIter = protoList.begin(); protoIter != protoList.end(); |
|
276 |
protoIter++) {
|
|
277 |
if (protoIter != protoList.begin()) |
|
278 |
cout << ", "; |
|
279 |
cout << *protoIter; |
|
280 |
} |
|
281 |
cout << endl; |
|
282 |
} |
|
283 |
||
284 |
if (si->has_general_category) {
|
|
285 |
cout << "General:" << endl |
|
286 |
<< " Group: " << si->group << endl |
|
287 |
<< " Image name: " << si->image << endl |
|
288 |
<< " Order number: " << si->order << endl |
|
289 |
<< " Device name: " << si->name << endl; |
|
290 |
||
291 |
if (si->mailbox_protocols & EC_MBOX_COE) {
|
|
292 |
cout << " CoE details:" << endl |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
293 |
<< " Enable SDO: " |
| 1151 | 294 |
<< (si->coe_details.enable_sdo ? "yes" : "no") << endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
295 |
<< " Enable SDO Info: " |
| 1151 | 296 |
<< (si->coe_details.enable_sdo_info ? "yes" : "no") << endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
297 |
<< " Enable PDO Assign: " |
| 1151 | 298 |
<< (si->coe_details.enable_pdo_assign |
299 |
? "yes" : "no") << endl |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
300 |
<< " Enable PDO Configuration: " |
| 1151 | 301 |
<< (si->coe_details.enable_pdo_configuration |
302 |
? "yes" : "no") << endl |
|
303 |
<< " Enable Upload at startup: " |
|
304 |
<< (si->coe_details.enable_upload_at_startup |
|
305 |
? "yes" : "no") << endl |
|
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
306 |
<< " Enable SDO complete access: " |
| 1151 | 307 |
<< (si->coe_details.enable_sdo_complete_access |
308 |
? "yes" : "no") << endl; |
|
309 |
} |
|
310 |
||
311 |
cout << " Flags:" << endl |
|
312 |
<< " Enable SafeOp: " |
|
313 |
<< (si->general_flags.enable_safeop ? "yes" : "no") << endl |
|
314 |
<< " Enable notLRW: " |
|
315 |
<< (si->general_flags.enable_not_lrw ? "yes" : "no") << endl |
|
316 |
<< " Current consumption: " |
|
317 |
<< dec << si->current_on_ebus << " mA" << endl; |
|
318 |
} |
|
319 |
} |
|
320 |
} |
|
321 |
||
322 |
/****************************************************************************/ |
|
323 |
||
324 |
bool CommandSlaves::slaveInList( |
|
325 |
const ec_ioctl_slave_t &slave, |
|
326 |
const SlaveList &slaves |
|
327 |
) |
|
328 |
{
|
|
329 |
SlaveList::const_iterator si; |
|
330 |
||
331 |
for (si = slaves.begin(); si != slaves.end(); si++) {
|
|
332 |
if (si->position == slave.position) {
|
|
333 |
return true; |
|
334 |
} |
|
335 |
} |
|
336 |
||
337 |
return false; |
|
| 1142 | 338 |
} |
339 |
||
340 |
/*****************************************************************************/ |