tool/CommandConfig.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 04 May 2009 10:05:55 +0000
changeset 1434 4c6fe0ae37f1
parent 1373 e651000f1ff1
child 1455 aa18fcfe0fd1
permissions -rw-r--r--
Separated application time from synchronizing reference clock.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 ****************************************************************************/
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#include <list>
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#include <iostream>
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#include <iomanip>
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#include <sstream>
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using namespace std;
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#include "CommandConfig.h"
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/*****************************************************************************/
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CommandConfig::CommandConfig():
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    Command("config", "Show slave configurations.")
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{
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}
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/*****************************************************************************/
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string CommandConfig::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS]" << endl
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    	<< endl
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    	<< getBriefDescription() << endl
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    	<< endl
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    	<< "Without the --verbose option, slave configurations are" << endl
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    	<< "output one-per-line. Example:" << endl
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    	<< endl
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    	<< "1001:0  0x0000003b/0x02010000  3  OP" << endl
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    	<< "|       |                      |  |" << endl
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    	<< "|       |                      |  \\- Application-layer" << endl
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    	<< "|       |                      |     state of the attached" << endl
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    	<< "|       |                      |     slave, or '-', if no" << endl
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    	<< "|       |                      |     slave is attached." << endl
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    	<< "|       |                      \\- Absolute decimal ring" << endl
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    	<< "|       |                         position of the attached" << endl
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    	<< "|       |                         slave, or '-' if none" << endl
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    	<< "|       |                         attached." << endl
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    	<< "|       \\- Expected vendor ID and product code (both" << endl
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    	<< "|          hexadecimal)." << endl
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    	<< "\\- Alias address and relative position (both decimal)." << endl
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    	<< endl
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    	<< "With the --verbose option given, the configured PDOs and" << endl
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    	<< "SDOs are output in addition." << endl
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        << endl
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        << "Configuration selection:" << endl
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        << "  Slave configurations can be selected with" << endl
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        << "  the --alias and --position parameters as follows:" << endl
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        << endl
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        << "  1) If neither the --alias nor the --position option" << endl
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        << "     is given, all slave configurations are displayed." << endl
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        << "  2) If only the --position option is given, an alias" << endl
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        << "     of zero is assumed (see 4))." << endl
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        << "  3) If only the --alias option is given, all slave" << endl
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        << "     configurations with the given alias address" << endl
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        << "     are displayed." << endl
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        << "  4) If both the --alias and the --position option are" << endl
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        << "     given, the selection can match a single" << endl
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        << "     configuration, that is displayed, if it exists." << endl
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    	<< endl
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    	<< "Command-specific options:" << endl
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        << "  --alias    -a <alias>  Configuration alias (see above)." << endl
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        << "  --position -p <pos>    Relative position (see above)." << endl
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    	<< "  --verbose  -v          Show detailed configurations." << endl
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        << endl
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        << numericInfo();
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	return str.str();
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}
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/*****************************************************************************/
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/** Lists the bus configuration.
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 */
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void CommandConfig::execute(MasterDevice &m, const StringVector &args)
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{
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    ConfigList configs;
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    if (args.size()) {
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        stringstream err;
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        err << "'" << getName() << "' takes no arguments!";
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        throwInvalidUsageException(err);
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    }
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    m.open(MasterDevice::Read);
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    configs = selectedConfigs(m);
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    if (getVerbosity() == Verbose) {
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        showDetailedConfigs(m, configs);
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    } else {
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        listConfigs(m, configs);
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    }
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}
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/*****************************************************************************/
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/** Lists the complete bus configuration.
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 */
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void CommandConfig::showDetailedConfigs(
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		MasterDevice &m,
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		const ConfigList &configList
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		)
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{
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    ConfigList::const_iterator configIter;
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    unsigned int j, k, l;
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    ec_ioctl_slave_t slave;
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    ec_ioctl_config_pdo_t pdo;
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    ec_ioctl_config_pdo_entry_t entry;
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    ec_ioctl_config_sdo_t sdo;
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    for (configIter = configList.begin();
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            configIter != configList.end();
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            configIter++) {
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59be91dfcbe1 Redesigned command interface.
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        cout << "Alias: "
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            << dec << configIter->alias << endl
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            << "Position: " << configIter->position << endl
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            << "Vendor Id: 0x"
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            << hex << setfill('0')
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            << setw(8) << configIter->vendor_id << endl
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            << "Product code: 0x"
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            << setw(8) << configIter->product_code << endl
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            << "Attached slave: ";
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        if (configIter->slave_position != -1) {
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            m.getSlave(&slave, configIter->slave_position);
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            cout << dec << configIter->slave_position
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                << " (" << alStateString(slave.al_state) << ")" << endl;
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   158
        } else {
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            cout << "none" << endl;
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        }
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        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
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   163
            if (configIter->syncs[j].pdo_count) {
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                cout << "SM" << dec << j << " ("
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                    << (configIter->syncs[j].dir == EC_DIR_INPUT
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                            ? "Input" : "Output") << ")" << endl;
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                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
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                    m.getConfigPdo(&pdo, configIter->config_index, j, k);
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                    cout << "  PDO 0x" << hex << setw(4) << pdo.index << endl;
1142
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   171
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                    for (l = 0; l < pdo.entry_count; l++) {
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                        m.getConfigPdoEntry(&entry,
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                                configIter->config_index, j, k, l);
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                        cout << "    PDO entry 0x" << hex << setfill('0')
1142
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                            << setw(4) << entry.index << ":"
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                            << setw(2) << (unsigned int) entry.subindex
1188
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                            << ", " << dec << setfill(' ')
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                            << setw(2) << (unsigned int) entry.bit_length
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                            << " bit" << endl;
1142
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                    }
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                }
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   184
            }
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        }
59be91dfcbe1 Redesigned command interface.
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   186
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4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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        cout << "SDO configuration:" << endl;
1142
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   188
        if (configIter->sdo_count) {
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   189
            for (j = 0; j < configIter->sdo_count; j++) {
59be91dfcbe1 Redesigned command interface.
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   190
                m.getConfigSdo(&sdo, configIter->config_index, j);
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   191
59be91dfcbe1 Redesigned command interface.
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                cout << "  0x"
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                    << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
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                    << setw(4) << sdo.index << ":"
59be91dfcbe1 Redesigned command interface.
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   195
                    << setw(2) << (unsigned int) sdo.subindex
59be91dfcbe1 Redesigned command interface.
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   196
                    << ", " << dec << sdo.size << " byte: " << hex;
59be91dfcbe1 Redesigned command interface.
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   197
59be91dfcbe1 Redesigned command interface.
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                switch (sdo.size) {
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                    case 1:
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                        cout << "0x" << setw(2)
59be91dfcbe1 Redesigned command interface.
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                            << (unsigned int) *(uint8_t *) &sdo.data;
59be91dfcbe1 Redesigned command interface.
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                        break;
59be91dfcbe1 Redesigned command interface.
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   203
                    case 2:
59be91dfcbe1 Redesigned command interface.
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                        cout << "0x" << setw(4)
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
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   205
                            << le16_to_cpup(&sdo.data);
1142
59be91dfcbe1 Redesigned command interface.
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   206
                        break;
59be91dfcbe1 Redesigned command interface.
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   207
                    case 4:
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   208
                        cout << "0x" << setw(8)
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
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   209
                            << le32_to_cpup(&sdo.data);
1142
59be91dfcbe1 Redesigned command interface.
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                        break;
59be91dfcbe1 Redesigned command interface.
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   211
                    default:
59be91dfcbe1 Redesigned command interface.
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   212
                        cout << "???";
59be91dfcbe1 Redesigned command interface.
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   213
                }
59be91dfcbe1 Redesigned command interface.
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   214
59be91dfcbe1 Redesigned command interface.
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   215
                cout << endl;
59be91dfcbe1 Redesigned command interface.
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   216
            }
59be91dfcbe1 Redesigned command interface.
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   217
        } else {
59be91dfcbe1 Redesigned command interface.
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   218
            cout << "  None." << endl;
59be91dfcbe1 Redesigned command interface.
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diff changeset
   219
        }
59be91dfcbe1 Redesigned command interface.
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   220
59be91dfcbe1 Redesigned command interface.
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   221
        cout << endl;
59be91dfcbe1 Redesigned command interface.
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diff changeset
   222
    }
59be91dfcbe1 Redesigned command interface.
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   223
}
59be91dfcbe1 Redesigned command interface.
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   224
59be91dfcbe1 Redesigned command interface.
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   225
/*****************************************************************************/
59be91dfcbe1 Redesigned command interface.
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   226
59be91dfcbe1 Redesigned command interface.
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   227
/** Lists the bus configuration.
59be91dfcbe1 Redesigned command interface.
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   228
 */
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   229
void CommandConfig::listConfigs(
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   230
        MasterDevice &m,
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   231
        const ConfigList &configList
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   232
        )
1142
59be91dfcbe1 Redesigned command interface.
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   233
{
59be91dfcbe1 Redesigned command interface.
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   234
    ConfigList::const_iterator configIter;
59be91dfcbe1 Redesigned command interface.
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   235
    stringstream str;
59be91dfcbe1 Redesigned command interface.
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diff changeset
   236
    Info info;
59be91dfcbe1 Redesigned command interface.
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diff changeset
   237
    typedef list<Info> InfoList;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
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   238
    InfoList list;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
    InfoList::const_iterator iter;
59be91dfcbe1 Redesigned command interface.
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diff changeset
   240
    unsigned int maxAliasWidth = 0, maxPosWidth = 0,
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   241
                 maxSlavePosWidth = 0, maxStateWidth = 0;
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   242
    ec_ioctl_slave_t slave;
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   243
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   244
    for (configIter = configList.begin();
59be91dfcbe1 Redesigned command interface.
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parents:
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   245
            configIter != configList.end();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
            configIter++) {
59be91dfcbe1 Redesigned command interface.
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diff changeset
   247
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
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   248
        str << dec << configIter->alias;
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   249
        info.alias = str.str();
59be91dfcbe1 Redesigned command interface.
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diff changeset
   250
        str.clear();
59be91dfcbe1 Redesigned command interface.
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diff changeset
   251
        str.str("");
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   252
59be91dfcbe1 Redesigned command interface.
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   253
        str << configIter->position;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   254
        info.pos = str.str();
59be91dfcbe1 Redesigned command interface.
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diff changeset
   255
        str.clear();
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   256
        str.str("");
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   257
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   258
        str << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
            << "0x" << setw(8) << configIter->vendor_id
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   260
            << "/0x" << setw(8) << configIter->product_code;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
        info.ident = str.str();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
        str.clear();
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   263
        str.str("");
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   264
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   265
        if (configIter->slave_position != -1) {
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   266
            m.getSlave(&slave, configIter->slave_position);
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   267
1172
74ee632c3b5e Fixed attached slave position in 'ethercat config' -> decimal.
Florian Pose <fp@igh-essen.com>
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diff changeset
   268
            str << dec << configIter->slave_position;
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   269
            info.slavePos = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   270
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   271
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   272
1148
1762296870bd Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
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diff changeset
   273
            str << alStateString(slave.al_state);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   274
            info.state = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   275
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   276
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   277
        } else {
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   278
            str << "-";
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   279
            info.slavePos = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   280
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   281
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   282
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   283
            str << "-";
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   284
            info.state = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   285
            str.clear();
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            str.str("");
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        }
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        list.push_back(info);
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        if (info.alias.length() > maxAliasWidth)
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            maxAliasWidth = info.alias.length();
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        if (info.pos.length() > maxPosWidth)
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            maxPosWidth = info.pos.length();
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        if (info.slavePos.length() > maxSlavePosWidth)
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            maxSlavePosWidth = info.slavePos.length();
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        if (info.state.length() > maxStateWidth)
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            maxStateWidth = info.state.length();
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    }
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    for (iter = list.begin(); iter != list.end(); iter++) {
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        cout << setfill(' ') << right
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            << setw(maxAliasWidth) << iter->alias
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            << ":" << left
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            << setw(maxPosWidth) << iter->pos
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            << "  "
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            << iter->ident
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            << "  "
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            << setw(maxSlavePosWidth) << iter->slavePos << "  "
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            << setw(maxStateWidth) << iter->state << "  "
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            << endl;
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    }
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}
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/*****************************************************************************/