author | Florian Pose <fp@igh-essen.com> |
Wed, 06 Jul 2011 16:37:40 +0200 | |
changeset 2076 | 1baafcd263cc |
parent 1968 | 4f682084c643 |
child 2421 | bc2d4bf9cbe5 |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
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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 |
29 |
* |
|
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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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42 |
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43 |
CommandConfig::CommandConfig(): |
|
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Command("config", "Show slave configurations.") |
|
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{ |
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46 |
} |
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/*****************************************************************************/ |
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49 |
||
1968
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string CommandConfig::helpString(const string &binaryBaseName) const |
1142 | 51 |
{ |
52 |
stringstream str; |
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54 |
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl |
1804 | 55 |
<< endl |
56 |
<< getBriefDescription() << endl |
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57 |
<< endl |
|
58 |
<< "Without the --verbose option, slave configurations are" << endl |
|
59 |
<< "output one-per-line. Example:" << endl |
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60 |
<< endl |
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61 |
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl |
|
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<< "| | | |" << endl |
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63 |
<< "| | | \\- 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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80 |
<< " 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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87 |
<< " configurations with the given alias address" << endl |
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<< " are displayed." << endl |
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89 |
<< " 4) If both the --alias and the --position option are" << endl |
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<< " given, the selection can match a single" << endl |
91 |
<< " 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(); |
1142 | 99 |
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1804 | 100 |
return str.str(); |
1142 | 101 |
} |
102 |
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/*****************************************************************************/ |
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104 |
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105 |
/** Lists the bus configuration. |
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*/ |
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107 |
void CommandConfig::execute(const StringVector &args) |
1142 | 108 |
{ |
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MasterIndexList masterIndices; |
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bool doIndent; |
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ConfigList configs; |
1142 | 112 |
|
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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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117 |
} |
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118 |
|
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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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124 |
MasterDevice m(*mi); |
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m.open(MasterDevice::Read); |
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configs = selectedConfigs(m); |
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127 |
|
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128 |
if (configs.size() && doIndent) { |
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cout << "Master" << dec << m.getIndex() << endl; |
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130 |
} |
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131 |
|
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132 |
if (getVerbosity() == Verbose) { |
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133 |
showDetailedConfigs(m, configs, doIndent); |
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134 |
} else { |
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135 |
listConfigs(m, configs, doIndent); |
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136 |
} |
1142 | 137 |
} |
138 |
} |
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139 |
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140 |
/*****************************************************************************/ |
|
141 |
||
142 |
/** Lists the complete bus configuration. |
|
143 |
*/ |
|
144 |
void CommandConfig::showDetailedConfigs( |
|
1804 | 145 |
MasterDevice &m, |
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146 |
const ConfigList &configList, |
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147 |
bool doIndent |
1804 | 148 |
) |
1142 | 149 |
{ |
150 |
ConfigList::const_iterator configIter; |
|
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151 |
unsigned int i, j, k, l; |
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152 |
ec_ioctl_slave_t slave; |
1142 | 153 |
ec_ioctl_config_pdo_t pdo; |
154 |
ec_ioctl_config_pdo_entry_t entry; |
|
155 |
ec_ioctl_config_sdo_t sdo; |
|
1966
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
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156 |
ec_ioctl_config_idn_t idn; |
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157 |
string indent(doIndent ? " " : ""); |
1142 | 158 |
|
159 |
for (configIter = configList.begin(); |
|
160 |
configIter != configList.end(); |
|
161 |
configIter++) { |
|
162 |
||
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163 |
cout << indent |
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164 |
<< "Alias: " |
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165 |
<< dec << configIter->alias << endl << indent |
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|
166 |
<< "Position: " << configIter->position << endl << indent |
1142 | 167 |
<< "Vendor Id: 0x" |
168 |
<< hex << setfill('0') |
|
1826
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|
169 |
<< setw(8) << configIter->vendor_id << endl << indent |
1142 | 170 |
<< "Product code: 0x" |
1826
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171 |
<< setw(8) << configIter->product_code << endl << indent |
1147
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|
172 |
<< "Attached slave: "; |
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173 |
|
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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|
174 |
if (configIter->slave_position != -1) { |
0eac1ee8512a
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|
175 |
m.getSlave(&slave, configIter->slave_position); |
1172
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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; |
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|
178 |
} else { |
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|
179 |
cout << "none" << endl; |
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|
180 |
} |
1142 | 181 |
|
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|
182 |
cout << indent << "Watchdog divider: "; |
1518
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Output watchdog configuration in ethercat config.
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1467
diff
changeset
|
183 |
if (configIter->watchdog_divider) { |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
184 |
cout << dec << configIter->watchdog_divider; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
185 |
} else { |
1519 | 186 |
cout << "(Default)"; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
187 |
} |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
188 |
cout << endl << indent |
1519 | 189 |
<< "Watchdog intervals: "; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
190 |
if (configIter->watchdog_intervals) { |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
191 |
cout << dec << configIter->watchdog_intervals; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
192 |
} else { |
1519 | 193 |
cout << "(Default)"; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
194 |
} |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
195 |
cout << endl; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
196 |
|
1142 | 197 |
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { |
198 |
if (configIter->syncs[j].pdo_count) { |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
199 |
cout << indent << "SM" << dec << j << ", Dir: " |
1142 | 200 |
<< (configIter->syncs[j].dir == EC_DIR_INPUT |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
201 |
? "Input" : "Output") << ", Watchdog: "; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
202 |
switch (configIter->syncs[j].watchdog_mode) { |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
203 |
case EC_WD_DEFAULT: cout << "Default"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
204 |
case EC_WD_ENABLE: cout << "Enable"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
205 |
case EC_WD_DISABLE: cout << "Disable"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
206 |
default: cout << "???"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
207 |
} |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
208 |
cout << endl; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
209 |
|
1142 | 210 |
for (k = 0; k < configIter->syncs[j].pdo_count; k++) { |
211 |
m.getConfigPdo(&pdo, configIter->config_index, j, k); |
|
212 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
213 |
cout << indent << " PDO 0x" << hex << setfill('0') |
1467
013a4e42a9fb
Minor fix in 'ethercat config' output.
Florian Pose <fp@igh-essen.com>
parents:
1456
diff
changeset
|
214 |
<< setw(4) << pdo.index << endl; |
1142 | 215 |
|
216 |
for (l = 0; l < pdo.entry_count; l++) { |
|
217 |
m.getConfigPdoEntry(&entry, |
|
218 |
configIter->config_index, j, k, l); |
|
219 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
220 |
cout << indent << " PDO entry 0x" |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
221 |
<< hex << setfill('0') |
1142 | 222 |
<< setw(4) << entry.index << ":" |
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.
Florian Pose <fp@igh-essen.com>
parents:
1172
diff
changeset
|
225 |
<< setw(2) << (unsigned int) entry.bit_length |
3b4e82d9904b
Don't show Pdo (entry) names in configuration output.
Florian Pose <fp@igh-essen.com>
parents:
1172
diff
changeset
|
226 |
<< " bit" << endl; |
1142 | 227 |
} |
228 |
} |
|
229 |
} |
|
230 |
} |
|
231 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
232 |
cout << indent << "SDO configuration:" << endl; |
1142 | 233 |
if (configIter->sdo_count) { |
234 |
for (j = 0; j < configIter->sdo_count; j++) { |
|
235 |
m.getConfigSdo(&sdo, configIter->config_index, j); |
|
236 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
237 |
cout << indent << " 0x" |
1142 | 238 |
<< hex << setfill('0') |
239 |
<< setw(4) << sdo.index << ":" |
|
240 |
<< setw(2) << (unsigned int) sdo.subindex |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
241 |
<< ", " << dec << sdo.size << " byte" << endl; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
242 |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
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.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
246 |
cout << setw(2) << (unsigned int) sdo.data[i]; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
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
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
248 |
cout << endl << indent << " "; |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
249 |
} else { |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
250 |
cout << " "; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
251 |
} |
1142 | 252 |
} |
253 |
||
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.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
257 |
} |
1142 | 258 |
} |
259 |
} else { |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
260 |
cout << indent << " None." << endl; |
1142 | 261 |
} |
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'.
Florian Pose <fp@igh-essen.com>
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'.
Florian Pose <fp@igh-essen.com>
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>
parents:
1918
diff
changeset
|
283 |
cout << endl; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
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'.
Florian Pose <fp@igh-essen.com>
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>
parents:
1918
diff
changeset
|
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'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
292 |
int i; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
293 |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
294 |
cout << indent << "DC configuration:" << endl |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
295 |
<< indent << " AssignActivate: 0x" << hex << setfill('0') |
1455
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
296 |
<< setw(4) << configIter->dc_assign_activate << endl; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
297 |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
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 | 308 |
cout << endl; |
309 |
} |
|
310 |
} |
|
311 |
||
312 |
/*****************************************************************************/ |
|
313 |
||
314 |
/** Lists the bus configuration. |
|
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 | 321 |
{ |
322 |
ConfigList::const_iterator configIter; |
|
323 |
stringstream str; |
|
324 |
Info info; |
|
325 |
typedef list<Info> InfoList; |
|
326 |
InfoList list; |
|
327 |
InfoList::const_iterator iter; |
|
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 | 332 |
|
333 |
for (configIter = configList.begin(); |
|
334 |
configIter != configList.end(); |
|
335 |
configIter++) { |
|
336 |
||
337 |
str << dec << configIter->alias; |
|
338 |
info.alias = str.str(); |
|
339 |
str.clear(); |
|
340 |
str.str(""); |
|
341 |
||
342 |
str << configIter->position; |
|
343 |
info.pos = str.str(); |
|
344 |
str.clear(); |
|
345 |
str.str(""); |
|
346 |
||
347 |
str << hex << setfill('0') |
|
348 |
<< "0x" << setw(8) << configIter->vendor_id |
|
349 |
<< "/0x" << setw(8) << configIter->product_code; |
|
350 |
info.ident = str.str(); |
|
351 |
str.clear(); |
|
352 |
str.str(""); |
|
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 | 374 |
|
375 |
list.push_back(info); |
|
376 |
||
377 |
if (info.alias.length() > maxAliasWidth) |
|
378 |
maxAliasWidth = info.alias.length(); |
|
379 |
if (info.pos.length() > maxPosWidth) |
|
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 | 385 |
} |
386 |
||
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 | 389 |
<< setw(maxAliasWidth) << iter->alias |
390 |
<< ":" << left |
|
391 |
<< setw(maxPosWidth) << iter->pos |
|
392 |
<< " " |
|
393 |
<< iter->ident |
|
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 | 397 |
<< endl; |
398 |
} |
|
399 |
} |
|
400 |
||
401 |
/*****************************************************************************/ |