author | Florian Pose <fp@igh-essen.com> |
Wed, 04 Jan 2012 18:00:36 +0100 | |
branch | stable-1.5 |
changeset 2192 | 1c7c546ac08c |
parent 1968 | 4f682084c643 |
child 2421 | bc2d4bf9cbe5 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
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* |
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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. |
1142 | 27 |
* |
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****************************************************************************/ |
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#include <iostream> |
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#include <iomanip> |
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using namespace std; |
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#include "CommandSdos.h" |
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#include "MasterDevice.h" |
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/*****************************************************************************/ |
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CommandSdos::CommandSdos(): |
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SdoCommand("sdos", "List SDO dictionaries.") |
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{ |
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} |
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/*****************************************************************************/ |
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1968
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string CommandSdos::helpString(const string &binaryBaseName) const |
1142 | 47 |
{ |
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stringstream str; |
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str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
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<< "SDO dictionary information is displayed in two layers," << endl |
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<< "which are indented accordingly:" << endl |
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<< endl |
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<< "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl |
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<< endl |
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<< " SDO 0x1018, \"Identity object\"" << endl |
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<< endl |
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<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl |
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<< " hexadecimal) followed by the access rights (see" << endl |
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<< " below), the data type, the length in bit, and the" << endl |
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<< " description. Example:" << endl |
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<< endl |
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<< " 0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl |
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<< endl |
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<< "The access rights are specified for the AL states PREOP," << endl |
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<< "SAFEOP and OP. An 'r' means, that the entry is readable" << endl |
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<< "in the corresponding state, an 'w' means writable," << endl |
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<< "respectively. If a right is not granted, a dash '-' is" << endl |
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<< "shown." << endl |
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<< endl |
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<< "If the --quiet option is given, only the SDOs are output." |
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<< endl << endl |
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<< "Command-specific options:" << endl |
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<< " --alias -a <alias>" << endl |
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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<< " the 'slaves' command." << endl |
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<< " --quiet -q Only output SDOs (without the" << endl |
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<< " SDO entries)." << 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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void CommandSdos::execute(const StringVector &args) |
1142 | 91 |
{ |
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MasterIndexList masterIndices; |
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SlaveList slaves; |
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SlaveList::const_iterator si; |
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bool showHeader, multiMaster; |
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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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} |
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102 |
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masterIndices = getMasterIndices(); |
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multiMaster = 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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MasterDevice m(*mi); |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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showHeader = multiMaster || slaves.size() > 1; |
1142 | 112 |
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for (si = slaves.begin(); si != slaves.end(); si++) { |
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114 |
listSlaveSdos(m, *si, showHeader); |
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} |
1142 | 116 |
} |
117 |
} |
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/****************************************************************************/ |
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void CommandSdos::listSlaveSdos( |
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1804 | 122 |
MasterDevice &m, |
1151 | 123 |
const ec_ioctl_slave_t &slave, |
1804 | 124 |
bool showHeader |
125 |
) |
|
1142 | 126 |
{ |
127 |
ec_ioctl_slave_sdo_t sdo; |
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ec_ioctl_slave_sdo_entry_t entry; |
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unsigned int i, j; |
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const DataType *d; |
1142 | 131 |
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if (showHeader && slave.sdo_count) |
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cout << "=== Master " << m.getIndex() |
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<< ", Slave " << slave.position << " ===" << endl; |
1142 | 135 |
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for (i = 0; i < slave.sdo_count; i++) { |
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1151 | 137 |
m.getSdo(&sdo, slave.position, i); |
1142 | 138 |
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cout << "SDO 0x" |
1142 | 140 |
<< hex << setfill('0') |
141 |
<< setw(4) << sdo.sdo_index |
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<< ", \"" << sdo.name << "\"" << endl; |
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if (getVerbosity() == Quiet) |
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continue; |
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for (j = 0; j <= sdo.max_subindex; j++) { |
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1151 | 148 |
m.getSdoEntry(&entry, slave.position, -i, j); |
1142 | 149 |
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cout << " 0x" << hex << setfill('0') |
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<< setw(4) << sdo.sdo_index << ":" |
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<< setw(2) << (unsigned int) entry.sdo_entry_subindex |
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<< ", " |
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<< (entry.read_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "r" : "-") |
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<< (entry.write_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "w" : "-") |
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156 |
<< (entry.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "r" : "-") |
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157 |
<< (entry.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "w" : "-") |
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158 |
<< (entry.read_access[EC_SDO_ENTRY_ACCESS_OP] ? "r" : "-") |
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159 |
<< (entry.write_access[EC_SDO_ENTRY_ACCESS_OP] ? "w" : "-") |
1142 | 160 |
<< ", "; |
161 |
||
162 |
if ((d = findDataType(entry.data_type))) { |
|
163 |
cout << d->name; |
|
164 |
} else { |
|
165 |
cout << "type " << setw(4) << entry.data_type; |
|
166 |
} |
|
167 |
||
168 |
cout << ", " << dec << entry.bit_length << " bit, \"" |
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169 |
<< entry.description << "\"" << endl; |
|
170 |
} |
|
171 |
} |
|
172 |
} |
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173 |
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174 |
/*****************************************************************************/ |