1

/*****************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 ****************************************************************************/

    29

    30

#include <list>

    31

#include <iostream>

    32

#include <iomanip>

    33

#include <sstream>

    34

using namespace std;

    35

    36

#include "CommandConfig.h"

    37

    38

/*****************************************************************************/

    39

    40

CommandConfig::CommandConfig():

    41

    Command("config", "Show slave configurations.")

    42

{

    43

}

    44

    45

/*****************************************************************************/

    46

    47

string CommandConfig::helpString() const

    48

{

    49

    stringstream str;

    50

    51

    str << getName() << " [OPTIONS]" << endl

    52

    	<< endl

    53

    	<< getBriefDescription() << endl

    54

    	<< endl

    55

    	<< "Without the --verbose option, slave configurations are" << endl

    56

    	<< "output one-per-line. Example:" << endl

    57

    	<< endl

    58

    	<< "1001:0  0x0000003b/0x02010000  3  OP" << endl

    59

    	<< "|       |                      |  |" << endl

    60

    	<< "|       |                      |  \\- Application-layer" << endl

    61

    	<< "|       |                      |     state of the attached" << endl

    62

    	<< "|       |                      |     slave, or '-', if no" << endl

    63

    	<< "|       |                      |     slave is attached." << endl

    64

    	<< "|       |                      \\- Absolute decimal ring" << endl

    65

    	<< "|       |                         position of the attached" << endl

    66

    	<< "|       |                         slave, or '-' if none" << endl

    67

    	<< "|       |                         attached." << endl

    68

    	<< "|       \\- Expected vendor ID and product code (both" << endl

    69

    	<< "|          hexadecimal)." << endl

    70

    	<< "\\- Alias address and relative position (both decimal)." << endl

    71

    	<< endl

    72

    	<< "With the --verbose option given, the configured PDOs and" << endl

    73

    	<< "SDOs are output in addition." << endl

    74

        << endl

    75

        << "Configuration selection:" << endl

    76

        << "  Slave configurations can be selected with" << endl

    77

        << "  the --alias and --position parameters as follows:" << endl

    78

        << endl

    79

        << "  1) If neither the --alias nor the --position option" << endl

    80

        << "     is given, all slave configurations are displayed." << endl

    81

        << "  2) If only the --position option is given, an alias" << endl

    82

        << "     of zero is assumed (see 4))." << endl

    83

        << "  3) If only the --alias option is given, all slave" << endl

    84

        << "     configurations with the given alias address" << endl

    85

        << "     are displayed." << endl

    86

        << "  4) If both the --alias and the --position option are" << endl

    87

        << "     given, the selection can match a single" << endl

    88

        << "     configuration, that is displayed, if it exists." << endl

    89

    	<< endl

    90

    	<< "Command-specific options:" << endl

    91

        << "  --alias    -a <alias>  Configuration alias (see above)." << endl

    92

        << "  --position -p <pos>    Relative position (see above)." << endl

    93

    	<< "  --verbose  -v          Show detailed configurations." << endl

    94

        << endl

    95

        << numericInfo();

    96

    97

	return str.str();

    98

}

    99

   100

/*****************************************************************************/

   101

   102

/** Lists the bus configuration.

   103

 */

   104

void CommandConfig::execute(MasterDevice &m, const StringVector &args)

   105

{

   106

    ConfigList configs;

   107

   108

    m.open(MasterDevice::Read);

   109

    configs = selectedConfigs(m);

   110

   111

    if (getVerbosity() == Verbose) {

   112

        showDetailedConfigs(m, configs);

   113

    } else {

   114

        listConfigs(m, configs);

   115

    }

   116

}

   117

   118

/*****************************************************************************/

   119

   120

/** Lists the complete bus configuration.

   121

 */

   122

void CommandConfig::showDetailedConfigs(

   123

		MasterDevice &m,

   124

		const ConfigList &configList

   125

		)

   126

{

   127

    ConfigList::const_iterator configIter;

   128

    unsigned int j, k, l;

   129

    ec_ioctl_slave_t slave;

   130

    ec_ioctl_config_pdo_t pdo;

   131

    ec_ioctl_config_pdo_entry_t entry;

   132

    ec_ioctl_config_sdo_t sdo;

   133

   134

    for (configIter = configList.begin();

   135

            configIter != configList.end();

   136

            configIter++) {

   137

   138

        cout << "Alias: "

   139

            << dec << configIter->alias << endl

   140

            << "Position: " << configIter->position << endl

   141

            << "Vendor Id: 0x"

   142

            << hex << setfill('0')

   143

            << setw(8) << configIter->vendor_id << endl

   144

            << "Product code: 0x"

   145

            << setw(8) << configIter->product_code << endl

   146

            << "Attached slave: ";

   147

   148

        if (configIter->slave_position != -1) {

   149

            m.getSlave(&slave, configIter->slave_position);

   150

            cout << dec << configIter->slave_position

   151

                << " (" << alStateString(slave.al_state) << ")" << endl;

   152

        } else {

   153

            cout << "none" << endl;

   154

        }

   155

   156

        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {

   157

            if (configIter->syncs[j].pdo_count) {

   158

                cout << "SM" << dec << j << " ("

   159

                    << (configIter->syncs[j].dir == EC_DIR_INPUT

   160

                            ? "Input" : "Output") << ")" << endl;

   161

                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {

   162

                    m.getConfigPdo(&pdo, configIter->config_index, j, k);

   163

   164

                    cout << "  PDO 0x" << hex << setw(4) << pdo.index << endl;

   165

   166

                    for (l = 0; l < pdo.entry_count; l++) {

   167

                        m.getConfigPdoEntry(&entry,

   168

                                configIter->config_index, j, k, l);

   169

   170

                        cout << "    PDO entry 0x" << hex << setfill('0')

   171

                            << setw(4) << entry.index << ":"

   172

                            << setw(2) << (unsigned int) entry.subindex

   173

                            << ", " << dec << setfill(' ')

   174

                            << setw(2) << (unsigned int) entry.bit_length

   175

                            << " bit" << endl;

   176

                    }

   177

                }

   178

            }

   179

        }

   180

   181

        cout << "SDO configuration:" << endl;

   182

        if (configIter->sdo_count) {

   183

            for (j = 0; j < configIter->sdo_count; j++) {

   184

                m.getConfigSdo(&sdo, configIter->config_index, j);

   185

   186

                cout << "  0x"

   187

                    << hex << setfill('0')

   188

                    << setw(4) << sdo.index << ":"

   189

                    << setw(2) << (unsigned int) sdo.subindex

   190

                    << ", " << dec << sdo.size << " byte: " << hex;

   191

   192

                switch (sdo.size) {

   193

                    case 1:

   194

                        cout << "0x" << setw(2)

   195

                            << (unsigned int) *(uint8_t *) &sdo.data;

   196

                        break;

   197

                    case 2:

   198

                        cout << "0x" << setw(4)

   199

                            << le16_to_cpup(&sdo.data);

   200

                        break;

   201

                    case 4:

   202

                        cout << "0x" << setw(8)

   203

                            << le32_to_cpup(&sdo.data);

   204

                        break;

   205

                    default:

   206

                        cout << "???";

   207

                }

   208

   209

                cout << endl;

   210

            }

   211

        } else {

   212

            cout << "  None." << endl;

   213

        }

   214

   215

        cout << endl;

   216

    }

   217

}

   218

   219

/*****************************************************************************/

   220

   221

/** Lists the bus configuration.

   222

 */

   223

void CommandConfig::listConfigs(

   224

        MasterDevice &m,

   225

        const ConfigList &configList

   226

        )

   227

{

   228

    ConfigList::const_iterator configIter;

   229

    stringstream str;

   230

    Info info;

   231

    typedef list<Info> InfoList;

   232

    InfoList list;

   233

    InfoList::const_iterator iter;

   234

    unsigned int maxAliasWidth = 0, maxPosWidth = 0,

   235

                 maxSlavePosWidth = 0, maxStateWidth = 0;

   236

    ec_ioctl_slave_t slave;

   237

   238

    for (configIter = configList.begin();

   239

            configIter != configList.end();

   240

            configIter++) {

   241

   242

        str << dec << configIter->alias;

   243

        info.alias = str.str();

   244

        str.clear();

   245

        str.str("");

   246

   247

        str << configIter->position;

   248

        info.pos = str.str();

   249

        str.clear();

   250

        str.str("");

   251

   252

        str << hex << setfill('0')

   253

            << "0x" << setw(8) << configIter->vendor_id

   254

            << "/0x" << setw(8) << configIter->product_code;

   255

        info.ident = str.str();

   256

        str.clear();

   257

        str.str("");

   258

   259

        if (configIter->slave_position != -1) {

   260

            m.getSlave(&slave, configIter->slave_position);

   261

   262

            str << dec << configIter->slave_position;

   263

            info.slavePos = str.str();

   264

            str.clear();

   265

            str.str("");

   266

   267

            str << alStateString(slave.al_state);

   268

            info.state = str.str();

   269

            str.clear();

   270

            str.str("");

   271

        } else {

   272

            str << "-";

   273

            info.slavePos = str.str();

   274

            str.clear();

   275

            str.str("");

   276

   277

            str << "-";

   278

            info.state = str.str();

   279

            str.clear();

   280

            str.str("");

   281

        }

   282

   283

        list.push_back(info);

   284

   285

        if (info.alias.length() > maxAliasWidth)

   286

            maxAliasWidth = info.alias.length();

   287

        if (info.pos.length() > maxPosWidth)

   288

            maxPosWidth = info.pos.length();

   289

        if (info.slavePos.length() > maxSlavePosWidth)

   290

            maxSlavePosWidth = info.slavePos.length();

   291

        if (info.state.length() > maxStateWidth)

   292

            maxStateWidth = info.state.length();

   293

    }

   294

   295

    for (iter = list.begin(); iter != list.end(); iter++) {

   296

        cout << setfill(' ') << right

   297

            << setw(maxAliasWidth) << iter->alias

   298

            << ":" << left

   299

            << setw(maxPosWidth) << iter->pos

   300

            << "  "

   301

            << iter->ident

   302

            << "  "

   303

            << setw(maxSlavePosWidth) << iter->slavePos << "  "

   304

            << setw(maxStateWidth) << iter->state << "  "

   305

            << endl;

   306

    }

   307

}

   308

   309

/*****************************************************************************/