author | Florian Pose <fp@igh-essen.com> |
Tue, 19 Jan 2010 15:15:57 +0100 | |
changeset 1773 | 5371f3e5f6a1 |
parent 1373 | e651000f1ff1 |
child 1804 | 742607c464c4 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
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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 |
11c0b2caa253
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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. |
11c0b2caa253
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* |
11c0b2caa253
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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 |
11c0b2caa253
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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 |
11c0b2caa253
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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****************************************************************************/ |
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#include <iostream> |
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#include <iomanip> |
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using namespace std; |
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#include "CommandDomains.h" |
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/*****************************************************************************/ |
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CommandDomains::CommandDomains(): |
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Command("domains", "Show configured domains.") |
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{ |
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} |
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/*****************************************************************************/ |
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string CommandDomains::helpString() const |
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{ |
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stringstream str; |
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str << getName() << " [OPTIONS]" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
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<< "Without the --verbose option, the domains are displayed" << endl |
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<< "one-per-line. Example:" << endl |
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<< endl |
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<< "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1" |
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<< endl << endl |
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<< "The domain's base address for the logical datagram" << endl |
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<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl |
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<< "process data size in byte. The last values are the current" << endl |
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<< "datagram working counter sum and the expected working" << endl |
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<< "counter sum. If the values are equal, all PDOs were" << endl |
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<< "exchanged during the last cycle." << endl |
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<< endl |
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<< "If the --verbose option is given, the participating slave" << endl |
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<< "configurations/FMMUs and the current process data are" << endl |
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<< "additionally displayed:" << endl |
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<< endl |
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<< "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1" |
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<< endl |
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<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6" |
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<< endl |
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<< " 0x00 0x00 0x00 0x00 0x00 0x00" << endl |
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<< endl |
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<< "The process data are displayed as hexadecimal bytes." << endl |
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<< endl |
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<< "Command-specific options:" << endl |
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<< " --domain -d <index> Positive numerical domain index." << endl |
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<< " If ommitted, all domains are" << endl |
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<< " displayed." << endl |
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<< endl |
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<< " --verbose -v Show FMMUs and process data" << endl |
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<< " in addition." << endl |
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<< endl |
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<< numericInfo(); |
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return str.str(); |
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} |
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/****************************************************************************/ |
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void CommandDomains::execute(MasterDevice &m, const StringVector &args) |
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{ |
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DomainList domains; |
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DomainList::const_iterator di; |
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if (args.size()) { |
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stringstream err; |
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err << "'" << getName() << "' takes no arguments!"; |
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throwInvalidUsageException(err); |
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} |
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m.open(MasterDevice::Read); |
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domains = selectedDomains(m); |
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for (di = domains.begin(); di != domains.end(); di++) { |
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showDomain(m, *di); |
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} |
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} |
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/****************************************************************************/ |
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void CommandDomains::showDomain( |
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MasterDevice &m, |
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const ec_ioctl_domain_t &domain |
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) |
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{ |
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unsigned char *processData; |
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ec_ioctl_domain_data_t data; |
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unsigned int i, j; |
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ec_ioctl_domain_fmmu_t fmmu; |
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unsigned int dataOffset; |
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cout << "Domain" << dec << domain.index << ":" |
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<< " LogBaseAddr 0x" |
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<< hex << setfill('0') |
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<< setw(8) << domain.logical_base_address |
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<< ", Size " << dec << setfill(' ') |
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<< setw(3) << domain.data_size |
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<< ", WorkingCounter " |
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<< domain.working_counter << "/" |
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<< domain.expected_working_counter << endl; |
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if (!domain.data_size || getVerbosity() != Verbose) |
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return; |
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processData = new unsigned char[domain.data_size]; |
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try { |
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m.getData(&data, domain.index, domain.data_size, processData); |
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} catch (MasterDeviceException &e) { |
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delete [] processData; |
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throw e; |
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} |
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for (i = 0; i < domain.fmmu_count; i++) { |
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m.getFmmu(&fmmu, domain.index, i); |
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cout << " SlaveConfig " |
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<< dec << fmmu.slave_config_alias |
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<< ":" << fmmu.slave_config_position |
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<< ", SM" << (unsigned int) fmmu.sync_index << " (" |
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<< setfill(' ') << setw(6) |
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<< (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output") |
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<< "), LogAddr 0x" |
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<< hex << setfill('0') |
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<< setw(8) << fmmu.logical_address |
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<< ", Size " << dec << fmmu.data_size << endl; |
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dataOffset = fmmu.logical_address - domain.logical_base_address; |
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if (dataOffset + fmmu.data_size > domain.data_size) { |
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stringstream err; |
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delete [] processData; |
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err << "Fmmu information corrupted!"; |
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throwCommandException(err); |
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} |
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cout << " " << hex << setfill('0'); |
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for (j = 0; j < fmmu.data_size; j++) { |
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if (j && !(j % BreakAfterBytes)) |
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cout << endl << " "; |
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cout << "0x" << setw(2) |
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<< (unsigned int) *(processData + dataOffset + j) << " "; |
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} |
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cout << endl; |
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} |
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delete [] processData; |
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} |
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/*****************************************************************************/ |