tool/CommandCStruct.cpp
author Florian Pose <fp@igh-essen.com>
Fri, 13 May 2011 15:34:20 +0200
changeset 2068 3001f6523e63
parent 1968 4f682084c643
child 2421 bc2d4bf9cbe5
permissions -rw-r--r--
Merge.
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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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 *  vim: expandtab
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 *
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 ****************************************************************************/
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#include <iostream>
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#include <iomanip>
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#include <string.h>
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using namespace std;
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#include "CommandCStruct.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandCStruct::CommandCStruct():
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    Command("cstruct", "Generate slave PDO information in C language.")
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{
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}
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/*****************************************************************************/
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string CommandCStruct::helpString(const string &binaryBaseName) const
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{
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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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        << "The output C code can be used directly with the" << endl
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        << "ecrt_slave_config_pdos() function of the application" << endl
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        << "interface." << endl
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        << 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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        << 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 CommandCStruct::execute(const StringVector &args)
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{
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    MasterIndexList masterIndices;
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    SlaveList slaves;
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    SlaveList::const_iterator si;
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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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    masterIndices = getMasterIndices();
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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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        for (si = slaves.begin(); si != slaves.end(); si++) {
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            generateSlaveCStruct(m, *si);
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        }
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    }
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}
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/****************************************************************************/
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void CommandCStruct::generateSlaveCStruct(
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        MasterDevice &m,
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        const ec_ioctl_slave_t &slave
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        )
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{
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    ec_ioctl_slave_sync_t sync;
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    ec_ioctl_slave_sync_pdo_t pdo;
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    ec_ioctl_slave_sync_pdo_entry_t entry;
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    unsigned int i, j, k, pdo_pos = 0, entry_pos = 0;
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    stringstream id, syncs, pdos, entries;
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    if (!slave.sync_count)
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        return;
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    id << "slave_" << dec << slave.position << "_";
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    for (i = 0; i < slave.sync_count; i++) {
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        m.getSync(&sync, slave.position, i);
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        syncs << "    {" << dec << sync.sync_index
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            << ", " << (EC_READ_BIT(&sync.control_register, 2) ?
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                    "EC_DIR_OUTPUT" : "EC_DIR_INPUT")
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            << ", " << dec << (unsigned int) sync.pdo_count
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            << ", ";
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        if (sync.pdo_count) {
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            syncs << id.str() << "pdos + " << dec << pdo_pos;
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        } else {
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            syncs << "NULL";
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        }
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        syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ?
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                "EC_WD_ENABLE" : "EC_WD_DISABLE")
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            << "},";
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        syncs << endl;
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        pdo_pos += sync.pdo_count;
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        for (j = 0; j < sync.pdo_count; j++) {
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            m.getPdo(&pdo, slave.position, i, j);
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            pdos << "    {0x" << hex << setfill('0')
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                << setw(4) << pdo.index
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                << ", " << dec << (unsigned int) pdo.entry_count
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                << ", ";
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                if (pdo.entry_count) {
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                    pdos << id.str() << "pdo_entries + " << dec << entry_pos;
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                } else {
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                    pdos << "NULL";
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                }
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            pdos << "},";
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            if (strlen((const char *) pdo.name)) {
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                pdos << " /* " << pdo.name << " */";
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            }
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            pdos << endl;
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            entry_pos += pdo.entry_count;
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            for (k = 0; k < pdo.entry_count; k++) {
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                m.getPdoEntry(&entry, slave.position, i, j, k);
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                entries << "    {0x" << hex << setfill('0')
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                    << setw(4) << entry.index
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                    << ", 0x" << setw(2) << (unsigned int) entry.subindex
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                    << ", " << dec << (unsigned int) entry.bit_length
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                    << "},";
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                if (strlen((const char *) entry.name)) {
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                    entries << " /* " << entry.name << " */";
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                }
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                entries << endl;
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            }
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        }
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    }
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    cout
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        << "/* Master " << m.getIndex() << ", Slave " << slave.position;
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    if (strlen(slave.order)) {
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        cout << ", \"" << slave.order << "\"";
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    }
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    cout << endl
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        << " * Vendor ID:       0x" << hex << setfill('0')
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        << setw(8) << slave.vendor_id << endl
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        << " * Product code:    0x" << hex << setfill('0')
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        << setw(8) << slave.product_code << endl
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   182
        << " * Revision number: 0x" << hex << setfill('0')
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   183
        << setw(8) << slave.revision_number << endl 
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   184
        << " */" << endl
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   185
        << endl;
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   187
    if (entry_pos) {
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   188
        cout << "ec_pdo_entry_info_t " << id.str()
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   189
            << "pdo_entries[] = {" << endl
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   190
            << entries.str()
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   191
            << "};" << endl
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   192
            << endl;
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   193
    }
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   194
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   195
    if (pdo_pos) {
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   196
        cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl
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   197
            << pdos.str()
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   198
            << "};" << endl
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   199
            << endl;
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   200
    }
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   201
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   202
    cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl
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   203
        << syncs.str()
1949
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   204
        << "    {0xff}" << endl
1514
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   205
        << "};" << endl
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   206
        << endl;
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   207
}
85ac1c91045d Added 'ethercat cstruct' command to output PDO information in C language.
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   208
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diff changeset
   209
/*****************************************************************************/