tool/CommandSdos.cpp
author Martin Troxler <martin.troxler@komaxgroup.com>
Mon, 30 Nov 2009 12:26:56 +0100
changeset 1585 1f640e321ee4
parent 1382 cb2188d111f3
child 1804 742607c464c4
permissions -rw-r--r--
ecrt_master_set_max_cycle_size: limit SDO traffic
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/*****************************************************************************
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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.
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 *
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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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/*****************************************************************************/
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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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string CommandSdos::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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    	<< "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(MasterDevice &m, const StringVector &args)
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{
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    SlaveList slaves;
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    SlaveList::const_iterator si;
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    bool showHeader;
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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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    m.open(MasterDevice::Read);
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    slaves = selectedSlaves(m);
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    showHeader = slaves.size() > 1;
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    for (si = slaves.begin(); si != slaves.end(); si++) {
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        listSlaveSdos(m, *si, showHeader);
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    }
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}
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/****************************************************************************/
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void CommandSdos::listSlaveSdos(
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		MasterDevice &m,
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        const ec_ioctl_slave_t &slave,
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		bool showHeader
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		)
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{
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    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;
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    if (showHeader)
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        cout << "=== Slave " << slave.position << " ===" << endl;
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    for (i = 0; i < slave.sdo_count; i++) {
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        m.getSdo(&sdo, slave.position, i);
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        cout << "SDO 0x"
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            << hex << setfill('0')
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            << 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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            m.getSdoEntry(&entry, slave.position, -i, j);
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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
1382
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                << ", "
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                << (entry.read_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "r" : "-")
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   145
                << (entry.write_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "w" : "-")
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                << (entry.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "r" : "-")
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   147
                << (entry.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "w" : "-")
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   148
                << (entry.read_access[EC_SDO_ENTRY_ACCESS_OP] ? "r" : "-")
cb2188d111f3 Read SDO entry access rights.
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   149
                << (entry.write_access[EC_SDO_ENTRY_ACCESS_OP] ? "w" : "-")
1142
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                << ", ";
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            if ((d = findDataType(entry.data_type))) {
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                cout << d->name;
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            } else {
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                cout << "type " << setw(4) << entry.data_type;
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            }
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            cout << ", " << dec << entry.bit_length << " bit, \""
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                << entry.description << "\"" << endl;
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        }
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    }
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}
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59be91dfcbe1 Redesigned command interface.
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   164
/*****************************************************************************/