etherlabmaster: tools/Master.cpp@3c9090138140 (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <sys/types.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	#include <sys/stat.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <fcntl.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <errno.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include <sys/ioctl.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	12
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include <iostream>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include <iomanip>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include <sstream>
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	16	#include <fstream>
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	17	#include <cctype> // toupper()
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	19
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	#include "Master.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	22	#define swap16(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	23	((uint16_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	24	(((uint16_t)(x) & 0x00ffU) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	25	(((uint16_t)(x) & 0xff00U) >> 8) ))
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	26	#define swap32(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	27	((uint32_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	28	(((uint32_t)(x) & 0x000000ffUL) << 24) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	29	(((uint32_t)(x) & 0x0000ff00UL) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	30	(((uint32_t)(x) & 0x00ff0000UL) >> 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	31	(((uint32_t)(x) & 0xff000000UL) >> 24) ))
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	32
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	33	#if __BYTE_ORDER == __LITTLE_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	34
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	35	#define le16tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	36	#define le32tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	37
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	38	#define cputole16(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	39	#define cputole32(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	40
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	41	#elif __BYTE_ORDER == __BIG_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	42
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	43	#define le16tocpu(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	44	#define le32tocpu(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	45
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	46	#define cputole16(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	47	#define cputole32(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	48
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	49	#endif
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	50
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	51	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	52
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	53	struct CoEDataType {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	54	const char *name;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	55	uint16_t coeCode;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	56	unsigned int byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	57	};
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	58
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	59	static const CoEDataType dataTypes[] = {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	60	{"int8", 0x0002, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	61	{"int16", 0x0003, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	62	{"int32", 0x0004, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	63	{"uint8", 0x0005, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	64	{"uint16", 0x0006, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	65	{"uint32", 0x0007, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	66	{"string", 0x0009, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	67	{"raw", 0xffff, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	68	{}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	69	};
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	70
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	71	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	72
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	73	const CoEDataType *findDataType(const string &str)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	74	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	75	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	76
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	77	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	78	if (str == d->name)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	79	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	80
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	81	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	82	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	83
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	84	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	85
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	86	const CoEDataType *findDataType(uint16_t code)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	87	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	88	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	89
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	90	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	91	if (code == d->coeCode)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	92	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	93
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	94	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	95	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	96
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	98
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	Master::Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	index = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	fd = -1;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	106
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	Master::~Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	close();
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	113
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	114	void Master::setIndex(unsigned int i)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	115	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	116	index = i;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	118
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	119	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	120
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	121	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	122	* Writes the Secondary slave address (alias) to the slave's SII.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	123	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	124	void Master::writeAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	125	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	126	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	127	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	128	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	129	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	130	ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	131	ec_ioctl_slave_t slave;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	132	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	133	uint16_t alias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	134	stringstream err, strAlias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	135	int number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	136
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	137	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	138	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	139	err << "'alias' takes exactly one argument!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	140	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	141	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	142
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	143	strAlias << commandArgs[0];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	144	strAlias >> hex >> number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	145	if (strAlias.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	146	err << "Invalid alias '" << commandArgs[0] << "'!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	147	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	148	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	149	alias = number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	150
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	151	if (slavePosition == -1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	152	unsigned int numSlaves, i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	153
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	154	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	155	err << "This will write the alias addresses of all slaves to 0x"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	156	<< hex << setfill('0') << setw(4) << alias << "! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	157	<< "Please specify --force to proceed.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	158	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	159	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	160
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	161	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	162	numSlaves = slaveCount();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	163
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	164	for (i = 0; i < numSlaves; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	165	writeSlaveAlias(i, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	166	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	167	} else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	168	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	169	writeSlaveAlias(slavePosition, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	170	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	171	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	172
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	174
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	175	void Master::outputData(int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	176	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	177	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	178
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	179	if (domainIndex == -1) {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	180	unsigned int numDomains = domainCount(), i;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	181
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	182	for (i = 0; i < numDomains; i++) {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	183	outputDomainData(i);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	184	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	185	} else {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	186	outputDomainData(domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	187	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	188	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	189
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	190	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	191
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	192	void Master::setDebug(const vector<string> &commandArgs)
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	193	{
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	194	stringstream str;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	195	int debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	196
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	197	if (commandArgs.size() != 1) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	198	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	199	err << "'debug' takes exactly one argument!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	200	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	201	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	202
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	203	str << commandArgs[0];
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	204	str >> debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	205
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	206	if (str.fail()) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	207	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	208	err << "Invalid debug level '" << commandArgs[0] << "'!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	209	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	210	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	211
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	212	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	213
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	214	if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	215	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	216	err << "Failed to set debug level: " << strerror(errno);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	217	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	218	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	219	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	220
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	221	/****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	222
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	223	void Master::showDomains(int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	224	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	225	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	226
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	227	if (domainIndex == -1) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	228	unsigned int numDomains = domainCount(), i;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	229
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	230	for (i = 0; i < numDomains; i++) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	231	showDomain(i);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	232	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	233	} else {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	234	showDomain(domainIndex);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	235	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	236	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	237
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	238	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	239
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	void Master::listSlaves()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	242	unsigned int numSlaves, i;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	243	ec_ioctl_slave_t slave;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	uint16_t lastAlias, aliasIndex;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	245
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	246	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	247
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	248	numSlaves = slaveCount();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	249
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	lastAlias = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	aliasIndex = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	for (i = 0; i < numSlaves; i++) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	253	getSlave(&slave, i);
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	254	cout << setfill(' ') << setw(2) << i << " ";
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	255
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	256	if (slave.alias) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	257	lastAlias = slave.alias;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	aliasIndex = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	if (lastAlias) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	261	cout << "#"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	262	<< hex << setfill('0') << setw(4) << lastAlias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	263	<< ":" << dec << aliasIndex;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	264	aliasIndex++;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	266
987 3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 983 diff changeset	267	cout << " " << slaveState(slave.state)
3c9090138140 Display error flag in 'ethercat ls'; cleaned up usage of error flag; Florian Pose <fp@igh-essen.com> parents: 983 diff changeset	268	<< " " << (slave.error_flag ? 'E' : '+') << " ";
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	269
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	270	if (strlen(slave.name)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	271	cout << slave.name;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	} else {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	273	cout << hex << setfill('0')
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	274	<< setw(8) << slave.vendor_id << ":"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	275	<< setw(8) << slave.product_code << dec;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	277
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	cout << endl;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	280	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	281
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	282	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	283
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	284	void Master::showMaster()
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	285	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	286	ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	287	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	288	unsigned int i;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	289
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	290	open(Read);
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	291	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	292
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	293	cout
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	294	<< "Master" << index << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	295	<< " State: ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	296
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	297	switch (data.mode) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	298	case 0: cout << "Waiting for device..."; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	299	case 1: cout << "Idle"; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	300	case 2: cout << "Operation"; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	301	default:
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	302	err << "Invalid master state " << data.mode;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	303	throw MasterException(err.str());
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	304	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	305
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	306	cout << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	307	<< " Slaves: " << data.slave_count << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	308
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	309	for (i = 0; i < 2; i++) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	310	cout << " Device" << i << ": ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	311	if (data.devices[i].address[0] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	312	&& data.devices[i].address[1] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	313	&& data.devices[i].address[2] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	314	&& data.devices[i].address[3] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	315	&& data.devices[i].address[4] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	316	&& data.devices[i].address[5] == 0x00) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	317	cout << "None.";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	318	} else {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	319	cout << hex << setfill('0')
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	320	<< setw(2) << (unsigned int) data.devices[i].address[0] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	321	<< setw(2) << (unsigned int) data.devices[i].address[1] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	322	<< setw(2) << (unsigned int) data.devices[i].address[2] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	323	<< setw(2) << (unsigned int) data.devices[i].address[3] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	324	<< setw(2) << (unsigned int) data.devices[i].address[4] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	325	<< setw(2) << (unsigned int) data.devices[i].address[5] << " ("
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	326	<< (data.devices[i].attached ? "attached" : "waiting...")
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	327	<< ")" << endl << dec
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	328	<< " Tx count: " << data.devices[i].tx_count << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	329	<< " Rx count: " << data.devices[i].rx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	330	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	331	cout << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	332	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	333	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	334
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	335	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	336
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	337	void Master::listPdos(int slavePosition, bool quiet)
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	338	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	339	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	340
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	341	if (slavePosition == -1) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	342	unsigned int numSlaves = slaveCount(), i;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	343
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	344	for (i = 0; i < numSlaves; i++) {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	345	listSlavePdos(i, quiet, true);
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	346	}
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	347	} else {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	348	listSlavePdos(slavePosition, quiet, false);
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	349	}
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	350	}
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	351
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	352	/****************************************************************************/
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	353
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	354	void Master::listSdos(int slavePosition, bool quiet)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	355	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	356	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	357
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	358	if (slavePosition == -1) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	359	unsigned int numSlaves = slaveCount(), i;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	360
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	361	for (i = 0; i < numSlaves; i++) {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	362	listSlaveSdos(i, quiet, true);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	363	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	364	} else {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	365	listSlaveSdos(slavePosition, quiet, false);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	366	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	367	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	368
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	369	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	370
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	371	void Master::sdoDownload(
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	372	int slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	373	const string &dataTypeStr,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	374	const vector<string> &commandArgs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	375	)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	376	{
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	377	stringstream strIndex, strSubIndex, strValue, err;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	378	int number, sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	379	ec_ioctl_sdo_download_t data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	380	unsigned int i, uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	381	const CoEDataType *dataType = NULL;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	382
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	383	if (slavePosition < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	384	err << "'sdo_download' requires a slave! Please specify --slave.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	385	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	386	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	387	data.slave_position = slavePosition;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	388
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	389	if (commandArgs.size() != 3) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	390	err << "'sdo_download' takes 3 arguments!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	391	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	392	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	393
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	394	strIndex << commandArgs[0];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	395	strIndex >> hex >> number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	396	if (strIndex.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	397	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	398	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	399	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	400	data.sdo_index = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	401
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	402	strSubIndex << commandArgs[1];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	403	strSubIndex >> hex >> number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	404	if (strSubIndex.fail() \|\| number < 0x00 \|\| number > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	405	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	406	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	407	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	408	data.sdo_entry_subindex = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	409
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	410	if (dataTypeStr != "") { // data type specified
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	411	if (!(dataType = findDataType(dataTypeStr))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	412	err << "Invalid data type '" << dataTypeStr << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	413	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	414	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	415	} else { // no data type specified: fetch from dictionary
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	416	ec_ioctl_sdo_entry_t entry;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	417	unsigned int entryByteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	418
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	419	open(ReadWrite);
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	420
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	421	try {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	422	getSdoEntry(&entry, slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	423	data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	424	} catch (MasterException &e) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	425	err << "Failed to determine Sdo entry data type. "
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	426	<< "Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	427	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	428	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	429	if (!(dataType = findDataType(entry.data_type))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	430	err << "Pdo entry has unknown data type 0x"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	431	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	432	<< " Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	433	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	434	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	435	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	436
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	437	if (dataType->byteSize) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	438	data.data_size = dataType->byteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	439	} else {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	440	data.data_size = DefaultBufferSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	441	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	442
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	443	data.data = new uint8_t[data.data_size + 1];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	444
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	445	strValue << commandArgs[2];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	446
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	447	switch (dataType->coeCode) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	448	case 0x0002: // int8
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	449	strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	450	if ((uint32_t) sval > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	451	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	452	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	453	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	454	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	455	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	456	*data.data = (int8_t) sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	457	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	458	case 0x0003: // int16
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	459	strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	460	if ((uint32_t) sval > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	461	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	462	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	463	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	464	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	465	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	466	(int16_t ) data.data = cputole16(sval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	467	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	468	case 0x0004: // int32
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	469	strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	470	(int32_t ) data.data = cputole32(sval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	471	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	472	case 0x0005: // uint8
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	473	strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	474	if ((uint32_t) uval > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	475	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	476	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	477	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	478	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	479	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	480	*data.data = (uint8_t) uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	481	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	482	case 0x0006: // uint16
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	483	strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	484	if ((uint32_t) uval > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	485	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	486	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	487	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	488	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	489	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	490	(uint16_t ) data.data = cputole16(uval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	491	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	492	case 0x0007: // uint32
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	493	strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	494	(uint32_t ) data.data = cputole32(uval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	495	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	496	case 0x0009: // string
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	497	if (strValue.str().size() >= data.data_size) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	498	err << "String too big";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	499	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	500	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	501	data.data_size = strValue.str().size();
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	502	strValue >> (char *) data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	503	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	504	default:
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	505	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	506	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	507
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	508	if (strValue.fail()) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	509	err << "Invalid value argument '" << commandArgs[2] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	510	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	511	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	512
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	513	open(ReadWrite);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	514
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	515	if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	516	stringstream err;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	517	err << "Failed to download Sdo: " << strerror(errno);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	518	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	519	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	520	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	521
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	522	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	523	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	524
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	525	/****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	526
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	527	void Master::sdoUpload(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	528	int slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	529	const string &dataTypeStr,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	530	const vector<string> &commandArgs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	531	)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	532	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	533	stringstream strIndex, strSubIndex;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	534	int number, sval;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	535	ec_ioctl_sdo_upload_t data;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	536	unsigned int i, uval;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	537	const CoEDataType *dataType = NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	538
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	539	if (slavePosition < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	540	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	541	err << "'sdo_upload' requires a slave! Please specify --slave.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	542	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	543	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	544	data.slave_position = slavePosition;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	545
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	546	if (commandArgs.size() != 2) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	547	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	548	err << "'sdo_upload' takes two arguments!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	549	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	550	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	551
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	552	strIndex << commandArgs[0];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	553	strIndex >> hex >> number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	554	if (strIndex.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	555	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	556	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	557	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	558	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	559	data.sdo_index = number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	560
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	561	strSubIndex << commandArgs[1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	562	strSubIndex >> hex >> number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	563	if (strSubIndex.fail() \|\| number < 0x00 \|\| number > 0xff) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	564	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	565	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	566	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	567	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	568	data.sdo_entry_subindex = number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	569
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	570	if (dataTypeStr != "") { // data type specified
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	571	if (!(dataType = findDataType(dataTypeStr))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	572	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	573	err << "Invalid data type '" << dataTypeStr << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	574	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	575	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	576	} else { // no data type specified: fetch from dictionary
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	577	ec_ioctl_sdo_entry_t entry;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	578	unsigned int entryByteSize;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	579
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	580	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	581
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	582	try {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	583	getSdoEntry(&entry, slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	584	data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	585	} catch (MasterException &e) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	586	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	587	err << "Failed to determine Sdo entry data type. "
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	588	<< "Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	589	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	590	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	591	if (!(dataType = findDataType(entry.data_type))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	592	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	593	err << "Pdo entry has unknown data type 0x"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	594	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	595	<< " Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	596	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	597	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	598	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	599
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	600	if (dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	601	data.target_size = dataType->byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	602	} else {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	603	data.target_size = DefaultBufferSize;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	604	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	605
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	606	data.target = new uint8_t[data.target_size + 1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	607
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	608	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	609
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	610	if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	611	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	612	err << "Failed to upload Sdo: " << strerror(errno);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	613	delete [] data.target;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	614	close();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	615	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	616	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	617
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	618	close();
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	619
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	620	if (dataType->byteSize && data.data_size != dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	621	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	622	err << "Data type mismatch. Expected " << dataType->name
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	623	<< " with " << dataType->byteSize << " byte, but got "
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	624	<< data.data_size << " byte.";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	625	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	626	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	627
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	628	cout << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	629	switch (dataType->coeCode) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	630	case 0x0002: // int8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	631	sval = (int8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	632	cout << sval << " 0x" << hex << setw(2) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	633	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	634	case 0x0003: // int16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	635	sval = le16tocpu((int16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	636	cout << sval << " 0x" << hex << setw(4) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	637	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	638	case 0x0004: // int32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	639	sval = le32tocpu((int32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	640	cout << sval << " 0x" << hex << setw(8) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	641	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	642	case 0x0005: // uint8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	643	uval = (unsigned int) (uint8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	644	cout << uval << " 0x" << hex << setw(2) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	645	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	646	case 0x0006: // uint16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	647	uval = le16tocpu((uint16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	648	cout << uval << " 0x" << hex << setw(4) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	649	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	650	case 0x0007: // uint32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	651	uval = le32tocpu((uint32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	652	cout << uval << " 0x" << hex << setw(8) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	653	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	654	case 0x0009: // string
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	655	cout << string((const char *) data.target, data.data_size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	656	<< endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	657	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	658	default:
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	659	printRawData(data.target, data.data_size);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	660	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	661	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	662
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	663	delete [] data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	664	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	665
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	666	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	667
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	668	void Master::siiRead(int slavePosition)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	669	{
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	670	ec_ioctl_sii_t data;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	671	ec_ioctl_slave_t slave;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	672	unsigned int i;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	673
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	674	if (slavePosition < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	675	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	676	err << "'sii_read' requires a slave! Please specify --slave.";
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	677	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	678	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	679	data.slave_position = slavePosition;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	680
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	681	open(Read);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	682
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	683	getSlave(&slave, slavePosition);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	684
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	685	if (!slave.sii_nwords)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	686	return;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	687
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	688	data.offset = 0;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	689	data.nwords = slave.sii_nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	690	data.words = new uint16_t[data.nwords];
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	691
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	692	if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	693	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	694	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	695	err << "Failed to read SII: " << strerror(errno);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	696	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	697	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	698
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	699	for (i = 0; i < data.nwords; i++) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	700	uint16_t *w = data.words + i;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	701	cout << (uint8_t ) w << ((uint8_t ) w + 1);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	702	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	703
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	704	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	705	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	706
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	707	/****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	708
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	709	void Master::siiWrite(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	710	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	711	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	712	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	713	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	714	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	715	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	716	ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	717	ifstream file;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	718	unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	719	const uint16_t *categoryHeader;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	720	uint16_t categoryType, categorySize;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	721	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	722
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	723	if (slavePosition < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	724	err << "'sii_write' requires a slave! Please specify --slave.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	725	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	726	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	727	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	728
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	729	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	730	err << "'ssi_write' takes exactly one argument!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	731	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	732	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	733
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	734	file.open(commandArgs[0].c_str(), ifstream::in \| ifstream::binary);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	735	if (file.fail()) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	736	err << "Failed to open '" << commandArgs[0] << "'!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	737	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	738	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	739
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	740	// get length of file
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	741	file.seekg(0, ios::end);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	742	byte_size = file.tellg();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	743	file.seekg(0, ios::beg);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	744
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	745	if (!byte_size \|\| byte_size % 2) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	746	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	747	err << "Invalid file size! Must be non-zero and even.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	748	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	749	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	750
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	751	data.nwords = byte_size / 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	752	if (data.nwords < 0x0041 && !force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	753	err << "SII data too short (" << data.nwords << " words)! Mimimum is"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	754	" 40 fixed words + 1 delimiter. Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	755	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	756	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	757
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	758	// allocate buffer and read file into buffer
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	759	data.words = new uint16_t[data.nwords];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	760	file.read((char *) data.words, byte_size);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	761	file.close();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	762
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	763	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	764	// calculate checksum over words 0 to 6
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	765	crc = calcSiiCrc((const uint8_t *) data.words, 14);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	766	if (crc != ((const uint8_t *) data.words)[14]) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	767	err << "CRC incorrect. Must be 0x"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	768	<< hex << setfill('0') << setw(2) << (unsigned int) crc
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	769	<< ". Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	770	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	771	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	772
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	773	// cycle through categories to detect corruption
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	774	categoryHeader = data.words + 0x0040;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	775	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	776	while (categoryType != 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	777	if (categoryHeader + 1 > data.words + data.nwords) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	778	err << "SII data seem to be corrupted! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	779	<< "Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	780	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	781	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	782	categorySize = le16tocpu(*(categoryHeader + 1));
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	783	if (categoryHeader + categorySize + 2 > data.words + data.nwords) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	784	err << "SII data seem to be corrupted! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	785	"Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	786	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	787	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	788	categoryHeader += categorySize + 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	789	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	790	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	791	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	792
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	793	// send data to master
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	794	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	795	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	796	if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	797	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	798	err << "Failed to write SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	799	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	800	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	801	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	802
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	803	/****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	804
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	805	void Master::requestStates(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	806	int slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	807	const vector<string> &commandArgs
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	808	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	809	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	810	string stateStr;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	811	uint8_t state;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	812
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	813	if (commandArgs.size() != 1) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	814	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	815	err << "'state' takes exactly one argument!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	816	throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	817	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	818
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	819	stateStr = commandArgs[0];
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	820	transform(stateStr.begin(), stateStr.end(),
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	821	stateStr.begin(), (int (*) (int)) std::toupper);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	822
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	823	if (stateStr == "INIT") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	824	state = 0x01;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	825	} else if (stateStr == "PREOP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	826	state = 0x02;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	827	} else if (stateStr == "SAFEOP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	828	state = 0x04;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	829	} else if (stateStr == "OP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	830	state = 0x08;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	831	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	832	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	833	err << "Invalid state '" << commandArgs[0] << "'!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	834	throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	835	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	836
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	837	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	838
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	839	if (slavePosition == -1) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	840	unsigned int i, numSlaves = slaveCount();
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	841	for (i = 0; i < numSlaves; i++)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	842	requestState(i, state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	843	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	844	requestState(slavePosition, state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	845	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	846	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	847
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	848	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	849
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	850	void Master::generateXml(int slavePosition)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	851	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	852	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	853
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	854	if (slavePosition == -1) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	855	unsigned int numSlaves = slaveCount(), i;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	856
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	857	for (i = 0; i < numSlaves; i++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	858	generateSlaveXml(i);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	859	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	860	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	861	generateSlaveXml(slavePosition);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	862	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	863	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	864
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	865	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	866
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	867	void Master::open(Permissions perm)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	868	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	869	stringstream deviceName;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	870
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	871	if (fd != -1) { // already open
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	872	return;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	873	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	874
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	875	deviceName << "/dev/EtherCAT" << index;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	876
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	877	if ((fd = ::open(deviceName.str().c_str(),
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	878	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	879	stringstream err;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	880	err << "Failed to open master device " << deviceName.str() << ": "
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	881	<< strerror(errno);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	882	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	883	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	884	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	885
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	886	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	887
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	888	void Master::close()
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	889	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	890	if (fd == -1)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	891	return;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	892
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	893	::close(fd);
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	894	fd = -1;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	895	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	896
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	897	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	898
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	899	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	900	* Writes the Secondary slave address (alias) to the slave's SII.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	901	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	902	void Master::writeSlaveAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	903	uint16_t slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	904	uint16_t alias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	905	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	906	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	907	ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	908	ec_ioctl_slave_t slave;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	909	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	910	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	911
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	912	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	913
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	914	getSlave(&slave, slavePosition);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	915
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	916	if (slave.sii_nwords < 8) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	917	err << "Current SII contents are too small to set an alias "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	918	<< "(" << slave.sii_nwords << " words)!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	919	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	920	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	921
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	922	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	923	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	924	data.nwords = 8;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	925	data.words = new uint16_t[data.nwords];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	926
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	927	// read first 8 SII words
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	928	if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	929	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	930	err << "Failed to read SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	931	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	932	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	933
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	934	// write new alias address in word 4
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	935	data.words[4] = cputole16(alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	936
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	937	// calculate checksum over words 0 to 6
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	938	crc = calcSiiCrc((const uint8_t *) data.words, 14);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	939
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	940	// write new checksum into first byte of word 7
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	941	(uint8_t ) (data.words + 7) = crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	942
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	943	// write first 8 words with new alias and checksum
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	944	if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	945	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	946	err << "Failed to write SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	947	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	948	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	949
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	950	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	951	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	952
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	953	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	954
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	955	void Master::outputDomainData(unsigned int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	956	{
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	957	ec_ioctl_domain_t domain;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	958	ec_ioctl_data_t data;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	959	unsigned char *processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	960	unsigned int i;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	961
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	962	getDomain(&domain, domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	963
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	964	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	965	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	966
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	967	processData = new unsigned char[domain.data_size];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	968
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	969	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	970	getData(&data, domainIndex, domain.data_size, processData);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	971	} catch (MasterException &e) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	972	delete [] processData;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	973	throw e;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	974	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	975
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	976	for (i = 0; i < data.data_size; i++)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	977	cout << processData[i];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	978	cout.flush();
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	979
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	980	delete [] processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	981	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	982
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	983	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	984
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	985	void Master::showDomain(unsigned int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	986	{
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	987	ec_ioctl_domain_t domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	988	unsigned char *processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	989	ec_ioctl_data_t data;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	990	unsigned int i, j;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	991	ec_ioctl_domain_fmmu_t fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	992	unsigned int dataOffset;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	993
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	994	getDomain(&domain, domainIndex);
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	995
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	996	cout << "Domain" << domainIndex << ":"
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	997	<< " LogBaseAddr 0x"
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	998	<< hex << setfill('0') << setw(8) << domain.logical_base_address
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	999	<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1000	<< ", WorkingCounter "
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1001	<< dec << domain.working_counter << "/"
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1002	<< domain.expected_working_counter << endl;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1003
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1004	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1005	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1006
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1007	processData = new unsigned char[domain.data_size];
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1008
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1009	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1010	getData(&data, domainIndex, domain.data_size, processData);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1011	} catch (MasterException &e) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1012	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1013	throw e;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1014	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1015
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1016	for (i = 0; i < domain.fmmu_count; i++) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1017	getFmmu(&fmmu, domainIndex, i);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1018
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1019	cout << " SlaveConfig "
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1020	<< fmmu.slave_config_alias << ":" << fmmu.slave_config_position
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1021	<< ", Dir "
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1022	<< setfill(' ') << setw(3) << (fmmu.fmmu_dir ? "In" : "Out")
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1023	<< ", LogAddr 0x"
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1024	<< hex << setfill('0') << setw(8) << fmmu.logical_address
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1025	<< ", Size " << dec << fmmu.data_size << endl;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1026
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1027	dataOffset = fmmu.logical_address - domain.logical_base_address;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1028	if (dataOffset + fmmu.data_size > domain.data_size) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1029	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1030	err << "Fmmu information corrupted!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1031	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1032	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1033	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1034
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1035	cout << " " << hex << setfill('0');
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1036	for (j = 0; j < fmmu.data_size; j++) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1037	cout << setw(2)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1038	<< (unsigned int) *(processData + dataOffset + j) << " ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1039	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1040	cout << endl;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1041	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1042
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1043	delete [] processData;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1044	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1045
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1046	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1047
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1048	void Master::listSlavePdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1049	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1050	bool quiet,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1051	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1052	)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1053	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1054	ec_ioctl_slave_t slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1055	ec_ioctl_sync_t sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1056	ec_ioctl_pdo_t pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1057	ec_ioctl_pdo_entry_t entry;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1058	unsigned int i, j, k;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1059
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1060	getSlave(&slave, slavePosition);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1061
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1062	if (withHeader)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1063	cout << "=== Slave " << slavePosition << " ===" << endl;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1064
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1065	for (i = 0; i < slave.sync_count; i++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1066	getSync(&sync, slavePosition, i);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1067
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1068	cout << "SM" << i << ":"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1069	<< " PhysAddr 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1070	<< hex << setfill('0') << setw(4) << sync.physical_start_address
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1071	<< ", DefaultSize "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1072	<< dec << setfill(' ') << setw(4) << sync.default_size
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1073	<< ", ControlRegister 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1074	<< hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1075	<< (unsigned int) sync.control_register
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1076	<< ", Enable " << dec << (unsigned int) sync.enable
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1077	<< endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1078
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1079	for (j = 0; j < sync.pdo_count; j++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1080	getPdo(&pdo, slavePosition, i, j);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1081
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1082	cout << " " << (pdo.dir ? "T" : "R") << "xPdo 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1083	<< hex << setfill('0') << setw(4) << pdo.index
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1084	<< " \"" << pdo.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1085
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1086	if (quiet)
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1087	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1088
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1089	for (k = 0; k < pdo.entry_count; k++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1090	getPdoEntry(&entry, slavePosition, i, j, k);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1091
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1092	cout << " Pdo entry 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1093	<< hex << setfill('0') << setw(4) << entry.index
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1094	<< ":" << hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1095	<< (unsigned int) entry.subindex
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1096	<< ", " << dec << (unsigned int) entry.bit_length
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1097	<< " bit, \"" << entry.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1098	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1099	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1100	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1101	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1102
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1103	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1104
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1105	void Master::listSlaveSdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1106	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1107	bool quiet,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1108	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1109	)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1110	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1111	ec_ioctl_slave_t slave;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1112	ec_ioctl_sdo_t sdo;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1113	ec_ioctl_sdo_entry_t entry;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1114	unsigned int i, j, k;
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1115	const CoEDataType *d;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1116
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1117	getSlave(&slave, slavePosition);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1118
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1119	if (withHeader)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1120	cout << "=== Slave " << slavePosition << " ===" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1121
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1122	for (i = 0; i < slave.sdo_count; i++) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1123	getSdo(&sdo, slavePosition, i);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1124
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1125	cout << "Sdo "
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1126	<< hex << setfill('0') << setw(4) << sdo.sdo_index
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1127	<< ", \"" << sdo.name << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1128
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1129	if (quiet)
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1130	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1131
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1132	for (j = 0; j <= sdo.max_subindex; j++) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1133	getSdoEntry(&entry, slavePosition, -i, j);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1134
983 efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1135	cout << " " << hex << setfill('0')
efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1136	<< setw(4) << sdo.sdo_index << ":"
efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1137	<< setw(2) << (unsigned int) entry.sdo_entry_subindex
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1138	<< ", ";
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1139
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1140	if ((d = findDataType(entry.data_type))) {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1141	cout << d->name;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1142	} else {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1143	cout << "type " << setw(4) << entry.data_type;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1144	}
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1145
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1146	cout << ", " << dec << entry.bit_length << " bit, \""
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1147	<< entry.description << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1148	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1149	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1150	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1151
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1152	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1153
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1154	void Master::generateSlaveXml(uint16_t slavePosition)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1155	{
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1156	ec_ioctl_slave_t slave;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1157	ec_ioctl_sync_t sync;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1158	ec_ioctl_pdo_t pdo;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1159	ec_ioctl_pdo_entry_t entry;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1160	unsigned int i, j, k;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1161
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1162	getSlave(&slave, slavePosition);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1163
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1164	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1165	<< "<?xml version=\"1.0\" ?>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1166	<< " <EtherCATInfo>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1167	<< " <!-- Slave " << slave.position << " -->" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1168	<< " <Vendor>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1169	<< " <Id>" << slave.vendor_id << "</Id>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1170	<< " </Vendor>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1171	<< " <Descriptions>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1172	<< " <Devices>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1173	<< " <Device>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1174	<< " <Type ProductCode=\"#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1175	<< hex << setfill('0') << setw(8) << slave.product_code
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1176	<< "\" RevisionNo=\"#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1177	<< hex << setfill('0') << setw(8) << slave.revision_number
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1178	<< "\"/>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1179
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1180	for (i = 0; i < slave.sync_count; i++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1181	getSync(&sync, slavePosition, i);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1182
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1183	for (j = 0; j < sync.pdo_count; j++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1184	getPdo(&pdo, slavePosition, i, j);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1185
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1186	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1187	<< " <" << (pdo.dir ? "T" : "R") << "xPdo>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1188	<< " <Index>#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1189	<< hex << setfill('0') << setw(4) << pdo.index
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1190	<< "</Index>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1191	<< " <Name>" << pdo.name << "</Name>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1192
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1193	for (k = 0; k < pdo.entry_count; k++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1194	getPdoEntry(&entry, slavePosition, i, j, k);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1195
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1196	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1197	<< " <Entry>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1198	<< " <Index>#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1199	<< hex << setfill('0') << setw(4) << entry.index
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1200	<< "</Index>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1201	if (entry.index)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1202	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1203	<< " <SubIndex>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1204	<< dec << (unsigned int) entry.subindex
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1205	<< "</SubIndex>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1206
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1207	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1208	<< " <BitLen>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1209	<< (unsigned int) entry.bit_length
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1210	<< "</BitLen>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1211
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1212	if (entry.index) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1213	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1214	<< " <Name>" << entry.name
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1215	<< "</Name>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1216	<< " <DataType>";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1217
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1218	if (entry.bit_length == 1) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1219	cout << "BOOL";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1220	} else if (!(entry.bit_length % 8)) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1221	if (entry.bit_length <= 64)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1222	cout << "UINT" << (unsigned int) entry.bit_length;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1223	else
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1224	cout << "STRING("
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1225	<< (unsigned int) (entry.bit_length / 8)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1226	<< ")";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1227	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1228	cerr << "Invalid bit length "
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1229	<< (unsigned int) entry.bit_length << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1230	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1231
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1232	cout << "</DataType>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1233	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1234
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1235	cout << " </Entry>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1236	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1237
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1238	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1239	<< " </" << (pdo.dir ? "T" : "R") << "xPdo>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1240	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1241	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1242
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1243	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1244	<< " </Device>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1245	<< " </Devices>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1246	<< " </Descriptions>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1247	<< "</EtherCATInfo>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1248	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1249
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1250	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1251
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1252	unsigned int Master::domainCount()
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1253	{
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1254	int ret;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1255
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1256	if ((ret = ioctl(fd, EC_IOCTL_DOMAIN_COUNT, 0)) < 0) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1257	stringstream err;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1258	err << "Failed to get number of domains: " << strerror(errno);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1259	throw MasterException(err.str());
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1260	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1261
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1262	return ret;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1263	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1264
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1265	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1266
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1267	unsigned int Master::slaveCount()
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1268	{
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1269	ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1270
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1271	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1272	return data.slave_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1273	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1274
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1275	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1276
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1277	void Master::getMaster(ec_ioctl_master_t *data)
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1278	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1279	if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1280	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1281	err << "Failed to get master information: " << strerror(errno);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1282	throw MasterException(err.str());
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1283	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1284	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1285
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1286	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1287
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1288	void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1289	{
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1290	data->index = index;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1291
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1292	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1293	stringstream err;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1294	err << "Failed to get domain: ";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1295	if (errno == EINVAL)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1296	err << "Domain " << index << " does not exist!";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1297	else
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1298	err << strerror(errno);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1299	throw MasterException(err.str());
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1300	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1301	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1302
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1303	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1304
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1305	void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1306	unsigned int dataSize, unsigned char *mem)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1307	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1308	data->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1309	data->data_size = dataSize;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1310	data->target = mem;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1311
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1312	if (ioctl(fd, EC_IOCTL_DATA, data) < 0) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1313	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1314	err << "Failed to get domain data: " << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1315	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1316	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1317	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1318
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1319	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1320
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1321	void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1322	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1323	slave->position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1324
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1325	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1326	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1327	err << "Failed to get slave: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1328	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1329	err << "Slave " << slaveIndex << " does not exist!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1330	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1331	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1332	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1333	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1334	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1335
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1336	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1337
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1338	void Master::getFmmu(
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1339	ec_ioctl_domain_fmmu_t *fmmu,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1340	unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1341	unsigned int fmmuIndex
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1342	)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1343	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1344	fmmu->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1345	fmmu->fmmu_index = fmmuIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1346
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1347	if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1348	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1349	err << "Failed to get domain FMMU: ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1350	if (errno == EINVAL)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1351	err << "Either domain " << domainIndex << " does not exist, "
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1352	<< "or it contains less than " << (unsigned int) fmmuIndex + 1
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1353	<< " FMMus!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1354	else
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1355	err << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1356	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1357	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1358	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1359
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1360	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1361
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1362	void Master::getSync(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1363	ec_ioctl_sync_t *sync,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1364	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1365	uint8_t syncIndex
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1366	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1367	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1368	sync->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1369	sync->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1370
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1371	if (ioctl(fd, EC_IOCTL_SYNC, sync)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1372	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1373	err << "Failed to get sync manager: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1374	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1375	err << "Either slave " << slaveIndex << " does not exist, "
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1376	<< "or it contains less than " << (unsigned int) syncIndex + 1
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1377	<< " sync managers!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1378	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1379	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1380	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1381	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1382	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1383
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1384	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1385
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1386	void Master::getPdo(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1387	ec_ioctl_pdo_t *pdo,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1388	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1389	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1390	uint8_t pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1391	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1392	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1393	pdo->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1394	pdo->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1395	pdo->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1396
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1397	if (ioctl(fd, EC_IOCTL_PDO, pdo)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1398	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1399	err << "Failed to get Pdo: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1400	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1401	err << "Either slave " << slaveIndex << " does not exist, "
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1402	<< "or it contains less than " << (unsigned int) syncIndex + 1
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1403	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1404	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1405	<< pdoPos + 1 << " Pdos!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1406	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1407	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1408	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1409	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1410	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1411
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1412	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1413
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1414	void Master::getPdoEntry(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1415	ec_ioctl_pdo_entry_t *entry,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1416	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1417	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1418	uint8_t pdoPos,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1419	uint8_t entryPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1420	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1421	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1422	entry->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1423	entry->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1424	entry->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1425	entry->entry_pos = entryPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1426
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1427	if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1428	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1429	err << "Failed to get Pdo entry: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1430	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1431	err << "Either slave " << slaveIndex << " does not exist, "
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1432	<< "or it contains less than " << (unsigned int) syncIndex + 1
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1433	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1434	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1435	<< pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1436	<< " contains less than " << (unsigned int) entryPos + 1
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1437	<< " entries!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1438	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1439	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1440	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1441	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1442	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1443
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1444	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1445
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1446	void Master::getSdo(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1447	ec_ioctl_sdo_t *sdo,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1448	uint16_t slaveIndex,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1449	uint16_t sdoPosition
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1450	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1451	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1452	sdo->slave_position = slaveIndex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1453	sdo->sdo_position = sdoPosition;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1454
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1455	if (ioctl(fd, EC_IOCTL_SDO, sdo)) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1456	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1457	err << "Failed to get Sdo: ";
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1458	if (errno == EINVAL)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1459	err << "Either slave " << slaveIndex << " does not exist, "
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1460	<< "or it contains less than " << sdoPosition + 1 << " Sdos!"
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1461	<< endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1462	else
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1463	err << strerror(errno);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1464	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1465	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1466	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1467
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1468	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1469
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1470	void Master::getSdoEntry(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1471	ec_ioctl_sdo_entry_t *entry,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1472	uint16_t slaveIndex,
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1473	int sdoSpec,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1474	uint8_t entrySubindex
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1475	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1476	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1477	entry->slave_position = slaveIndex;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1478	entry->sdo_spec = sdoSpec;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1479	entry->sdo_entry_subindex = entrySubindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1480
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1481	if (ioctl(fd, EC_IOCTL_SDO_ENTRY, entry)) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1482	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1483	err << "Failed to get Sdo entry: ";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1484	err << strerror(errno);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1485	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1486	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1487	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1488
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1489	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1490
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1491	void Master::requestState(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1492	uint16_t slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1493	uint8_t state
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1494	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1495	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1496	ec_ioctl_slave_state_t data;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1497
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1498	data.slave_position = slavePosition;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1499	data.requested_state = state;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1500
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1501	if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1502	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1503	err << "Failed to request slave state: ";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1504	if (errno == EINVAL)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1505	err << "Slave " << slavePosition << " does not exist!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1506	else
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1507	err << strerror(errno);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1508	throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1509	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1510	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1511
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1512	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1513
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1514	string Master::slaveState(uint8_t state)
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1515	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1516	switch (state) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1517	case 1: return "INIT";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1518	case 2: return "PREOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	case 4: return "SAFEOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520	case 8: return "OP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1521	default: return "???";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1522	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1524
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1525	/****************************************************************************/
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1526
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1527	void Master::printRawData(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1528	const uint8_t *data,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1529	unsigned int size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1530	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1531	cout << hex << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1532	while (size--) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1533	cout << "0x" << setw(2) << (unsigned int) *data++;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1534	if (size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1535	cout << " ";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1536	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1537	cout << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1538	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1539
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1540	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1541
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1542	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1543	* Calculates the SII checksum field.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1544	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1545	* The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1546	* initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1547	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1548	* The below code was originally generated with PYCRC
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1549	* http://www.tty1.net/pycrc
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1550	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1551	* ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1552	* --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1553	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1554	* \return CRC8
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1555	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1556	uint8_t Master::calcSiiCrc(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1557	const uint8_t data, /< pointer to data /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1558	size_t length /*< number of bytes in \a data /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1559	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1560	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1561	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1562	uint8_t bit, byte, crc = 0x48;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1563
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1564	while (length--) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1565	byte = *data++;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1566	for (i = 0; i < 8; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1567	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1568	crc = (crc << 1) \| ((byte >> (7 - i)) & 0x01);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1569	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1570	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1571	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1572
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1573	for (i = 0; i < 8; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1574	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1575	crc <<= 1;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1576	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1577	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1578
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1579	return crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1580	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1581
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1582	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 10 Jun 2008 12:05:25 +0000
changeset 987	3c9090138140
parent 983	efb947bd96f3
child 988	a47c5a3c143d
permissions	-rw-r--r--