tool/CommandDomains.cpp
author Florian Pose <fp@igh-essen.com>
Wed, 09 Dec 2009 14:40:35 +0100
changeset 1578 30f065ea5271
parent 1373 e651000f1ff1
child 1804 742607c464c4
permissions -rw-r--r--
Added README to dist.
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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 "CommandDomains.h"
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/*****************************************************************************/
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CommandDomains::CommandDomains():
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    Command("domains", "Show configured domains.")
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{
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}
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/*****************************************************************************/
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string CommandDomains::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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    	<< "Without the --verbose option, the domains are displayed" << endl
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        << "one-per-line. Example:" << endl
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    	<< endl
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    	<< "Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 0/1"
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		<< endl << endl
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    	<< "The domain's base address for the logical datagram" << endl
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    	<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
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    	<< "process data size in byte. The last values are the current" << endl
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    	<< "datagram working counter sum and the expected working" << endl
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    	<< "counter sum. If the values are equal, all PDOs were" << endl
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        << "exchanged during the last cycle." << endl
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        << endl
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    	<< "If the --verbose option is given, the participating slave" << endl
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    	<< "configurations/FMMUs and the current process data are" << endl
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    	<< "additionally displayed:" << endl
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    	<< endl
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    	<< "Domain1: LogBaseAddr 0x00000006, Size   6, WorkingCounter 0/1"
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		<< endl
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    	<< "  SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
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		<< endl
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    	<< "    0x00 0x00 0x00 0x00 0x00 0x00" << endl
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    	<< endl
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    	<< "The process data are displayed as hexadecimal bytes." << endl
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    	<< endl
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    	<< "Command-specific options:" << endl
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    	<< "  --domain  -d <index>  Positive numerical domain index." << endl
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    	<< "                        If ommitted, all domains are" << endl
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        << "                        displayed." << endl
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		<< endl
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    	<< "  --verbose -v          Show FMMUs and process data" << endl
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		<< "                        in addition." << 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 CommandDomains::execute(MasterDevice &m, const StringVector &args)
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{
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	DomainList domains;
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	DomainList::const_iterator di;
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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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	domains = selectedDomains(m);
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	for (di = domains.begin(); di != domains.end(); di++) {
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		showDomain(m, *di);
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	}
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}
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/****************************************************************************/
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void CommandDomains::showDomain(
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		MasterDevice &m,
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		const ec_ioctl_domain_t &domain
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		)
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{
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    unsigned char *processData;
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    ec_ioctl_domain_data_t data;
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    unsigned int i, j;
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    ec_ioctl_domain_fmmu_t fmmu;
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    unsigned int dataOffset;
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	cout << "Domain" << dec << domain.index << ":"
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		<< " LogBaseAddr 0x"
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		<< hex << setfill('0')
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        << setw(8) << domain.logical_base_address
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		<< ", Size " << dec << setfill(' ')
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        << setw(3) << domain.data_size
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		<< ", WorkingCounter "
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		<< domain.working_counter << "/"
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        << domain.expected_working_counter << endl;
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    if (!domain.data_size || getVerbosity() != Verbose)
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        return;
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    processData = new unsigned char[domain.data_size];
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    try {
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        m.getData(&data, domain.index, domain.data_size, processData);
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    } catch (MasterDeviceException &e) {
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        delete [] processData;
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        throw e;
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    }
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    for (i = 0; i < domain.fmmu_count; i++) {
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        m.getFmmu(&fmmu, domain.index, i);
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        cout << "  SlaveConfig "
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            << dec << fmmu.slave_config_alias
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            << ":" << fmmu.slave_config_position
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            << ", SM" << (unsigned int) fmmu.sync_index << " ("
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            << setfill(' ') << setw(6)
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            << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
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            << "), LogAddr 0x"
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            << hex << setfill('0')
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            << setw(8) << fmmu.logical_address
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            << ", Size " << dec << fmmu.data_size << endl;
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        dataOffset = fmmu.logical_address - domain.logical_base_address;
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        if (dataOffset + fmmu.data_size > domain.data_size) {
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            stringstream err;
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            delete [] processData;
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            err << "Fmmu information corrupted!";
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            throwCommandException(err);
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        }
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        cout << "    " << hex << setfill('0');
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        for (j = 0; j < fmmu.data_size; j++) {
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            if (j && !(j % BreakAfterBytes))
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                cout << endl << "    ";
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            cout << "0x" << setw(2)
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                << (unsigned int) *(processData + dataOffset + j) << " ";
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        }
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        cout << endl;
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    }
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    delete [] processData;
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}
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   181
/*****************************************************************************/