etherlabmaster: tools/Master.cpp@5461894b05ab (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()
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	18	#include <list>
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	#include "Master.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	22
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	23	#define swap16(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	24	((uint16_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	25	(((uint16_t)(x) & 0x00ffU) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	26	(((uint16_t)(x) & 0xff00U) >> 8) ))
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	27	#define swap32(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	28	((uint32_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	29	(((uint32_t)(x) & 0x000000ffUL) << 24) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	30	(((uint32_t)(x) & 0x0000ff00UL) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	31	(((uint32_t)(x) & 0x00ff0000UL) >> 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	32	(((uint32_t)(x) & 0xff000000UL) >> 24) ))
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	33
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	34	#if __BYTE_ORDER == __LITTLE_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	35
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	36	#define le16tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	37	#define le32tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	38
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	39	#define cputole16(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	40	#define cputole32(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	41
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	42	#elif __BYTE_ORDER == __BIG_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	43
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	44	#define le16tocpu(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	45	#define le32tocpu(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	46
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	47	#define cputole16(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	48	#define cputole32(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	49
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	50	#endif
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
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	54	struct CoEDataType {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	55	const char *name;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	56	uint16_t coeCode;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	57	unsigned int byteSize;
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
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	60	static const CoEDataType dataTypes[] = {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	61	{"int8", 0x0002, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	62	{"int16", 0x0003, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	63	{"int32", 0x0004, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	64	{"uint8", 0x0005, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	65	{"uint16", 0x0006, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	66	{"uint32", 0x0007, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	67	{"string", 0x0009, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	68	{"raw", 0xffff, 0},
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
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	74	const CoEDataType *findDataType(const string &str)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	75	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	76	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	77
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	78	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	79	if (str == d->name)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	80	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	81
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	82	return NULL;
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
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	87	const CoEDataType *findDataType(uint16_t code)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	88	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	89	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	90
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	91	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	92	if (code == d->coeCode)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	93	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	94
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	95	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	96	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	97
922 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
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	Master::Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	index = 0;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	103	verbosity = Normal;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	fd = -1;
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	/****************************************************************************/
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	Master::~Master()
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	close();
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
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	116	void Master::setIndex(unsigned int i)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	117	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	118	index = i;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	/****************************************************************************/
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	122
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	123	void Master::setVerbosity(Verbosity v)
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	124	{
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	125	verbosity = v;
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	126	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	127
980 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	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	131	* 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	132	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	133	void Master::writeAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	134	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	135	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	136	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	137	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	138	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	139	uint16_t alias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	140	stringstream err, strAlias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	141	int number;
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	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	144	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	145	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	146	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	147	}
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	strAlias << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	150	strAlias
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	151	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	152	>> number;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	153	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	154	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	155	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	156	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	157	alias = number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	158
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	159	if (slavePosition == -1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	160	unsigned int numSlaves, i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	161
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	162	if (!force) {
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	163	err << "This will write the alias addresses of all slaves to "
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	164	<< alias << "! Please specify --force to proceed.";
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	165	throw MasterException(err.str());
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
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	numSlaves = slaveCount();
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	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	172	writeSlaveAlias(i, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	173	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	174	} else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	175	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	176	writeSlaveAlias(slavePosition, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	177	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	178	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	179
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	180	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	181
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	182	/** Lists the bus configuration.
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	183	*/
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	184	void Master::showConfigs()
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	185	{
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	186	if (verbosity == Verbose) {
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	187	showDetailedConfigs();
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	188	} else {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	189	listConfigs();
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	190	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	191	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	192
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	194
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	195	void Master::outputData(int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	196	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	197	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	198
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	199	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	200	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	201	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	202
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	203	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	204
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	205	for (i = 0; i < master.domain_count; i++) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	206	outputDomainData(i);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	207	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	208	} else {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	209	outputDomainData(domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	210	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	211	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	212
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	213	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	214
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	215	void Master::setDebug(const vector<string> &commandArgs)
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	216	{
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	217	stringstream str;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	218	int debugLevel;
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	if (commandArgs.size() != 1) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	221	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	222	err << "'debug' takes exactly one argument!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	223	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	224	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	225
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	226	str << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	227	str >> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	228	>> debugLevel;
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	229
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	230	if (str.fail()) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	231	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	232	err << "Invalid debug level '" << commandArgs[0] << "'!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	233	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	234	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	235
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	236	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	237
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	238	if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	239	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	240	err << "Failed to set debug level: " << strerror(errno);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	241	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	242	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	243	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	244
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	245	/****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	246
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	247	void Master::showDomains(int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	248	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	249	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	250
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	251	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	252	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	253	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	254
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	255	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	256
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	257	for (i = 0; i < master.domain_count; i++) {
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	258	showDomain(i);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	259	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	260	} else {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	261	showDomain(domainIndex);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	262	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	263	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	264
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	265	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	266
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	267	void Master::showMaster()
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	268	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	269	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	270	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	271	unsigned int i;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	272
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	273	open(Read);
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	274	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	275
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	276	cout
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	277	<< "Master" << index << endl
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	278	<< " Phase: ";
61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	279
61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	280	switch (data.phase) {
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	281	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	282	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	283	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	284	default:
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	285	err << "Invalid master phase " << data.phase;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	286	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	287	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	288
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	289	cout << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	290	<< " 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	291
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	292	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	293	cout << " Device" << i << ": ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	294	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	295	&& 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	296	&& 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	297	&& 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	298	&& 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	299	&& 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	300	cout << "None.";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	301	} else {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	302	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	303	<< 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	304	<< 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	305	<< 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	306	<< 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	307	<< 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	308	<< 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	309	<< (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	310	<< ")" << endl << dec
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	311	<< " 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	312	<< " 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	313	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	314	cout << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	315	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	316	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	317
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	318	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	319
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	320	void Master::listPdos(int slavePosition)
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	321	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	322	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	323
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	324	if (slavePosition == -1) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	325	unsigned int numSlaves = slaveCount(), i;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	326
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	327	for (i = 0; i < numSlaves; i++) {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	328	listSlavePdos(i, true);
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	329	}
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	330	} else {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	331	listSlavePdos(slavePosition, false);
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	332	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	333	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	334
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	335	/****************************************************************************/
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	336
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	337	void Master::listSdos(int slavePosition)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 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
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	341	if (slavePosition == -1) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	342	unsigned int numSlaves = slaveCount(), i;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	343
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	344	for (i = 0; i < numSlaves; i++) {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	345	listSlaveSdos(i, true);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	346	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	347	} else {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	348	listSlaveSdos(slavePosition, false);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	349	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	350	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	351
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	352	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	353
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	354	void Master::sdoDownload(
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	355	int slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	356	const string &dataTypeStr,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	357	const vector<string> &commandArgs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	358	)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	359	{
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	360	stringstream strIndex, strSubIndex, strValue, err;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	361	ec_ioctl_slave_sdo_download_t data;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	362	unsigned int number;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	363	const CoEDataType *dataType = NULL;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	364
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	365	if (slavePosition < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	366	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	367	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	368	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	369	data.slave_position = slavePosition;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	370
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	371	if (commandArgs.size() != 3) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	372	err << "'sdo_download' takes 3 arguments!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	373	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	374	}
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	strIndex << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	377	strIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	378	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	379	>> data.sdo_index;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	380	if (strIndex.fail()) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	381	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	382	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	383	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	384
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	385	strSubIndex << commandArgs[1];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	386	strSubIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	387	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	388	>> number;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	389	if (strSubIndex.fail() \|\| number > 0xff) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	390	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
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	data.sdo_entry_subindex = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	394
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	395	if (dataTypeStr != "") { // data type specified
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	396	if (!(dataType = findDataType(dataTypeStr))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	397	err << "Invalid data type '" << dataTypeStr << "'!";
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	} else { // no data type specified: fetch from dictionary
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	401	ec_ioctl_slave_sdo_entry_t entry;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	402
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	403	open(ReadWrite);
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	404
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	405	try {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	406	getSdoEntry(&entry, slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	407	data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	408	} catch (MasterException &e) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	409	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	410	<< "Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	411	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	412	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	413	if (!(dataType = findDataType(entry.data_type))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	414	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	415	<< 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	416	<< " Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	417	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	418	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	419	}
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	if (dataType->byteSize) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	422	data.data_size = dataType->byteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	423	} else {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	424	data.data_size = DefaultBufferSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	425	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	426
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	427	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	428
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	429	strValue << commandArgs[2];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	430	strValue >> resetiosflags(ios::basefield); // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	431	strValue.exceptions(ios::failbit);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	432
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	433	try {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	434	switch (dataType->coeCode) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	435	case 0x0002: // int8
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	436	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	437	int16_t val; // uint8_t is interpreted as char
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	438	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	439	if (val > 127 \|\| val < -128)
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	440	throw ios::failure("Value out of range");
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	441	*data.data = val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	442	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	443	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	444	case 0x0003: // int16
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	445	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	446	int16_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	447	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	448	(int16_t ) data.data = cputole16(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	449	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	450	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	451	case 0x0004: // int32
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	452	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	453	int32_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	454	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	455	(int32_t ) data.data = cputole32(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	456	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	457	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	458	case 0x0005: // uint8
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	459	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	460	uint16_t val; // uint8_t is interpreted as char
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	461	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	462	if (val > 0xff)
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	463	throw ios::failure("Value out of range");
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	464	*data.data = val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	465	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	466	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	467	case 0x0006: // uint16
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	468	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	469	uint16_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	470	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	471	(uint16_t ) data.data = cputole16(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	472	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	473	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	474	case 0x0007: // uint32
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	475	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	476	uint32_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	477	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	478	(uint32_t ) data.data = cputole32(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	479	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	480	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	481	case 0x0009: // string
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	482	if (strValue.str().size() >= data.data_size) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	483	err << "String too large";
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	484	throw MasterException(err.str());
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	485	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	486	data.data_size = strValue.str().size();
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	487	strValue >> (char *) data.data;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	488	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	489
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	490	default:
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	491	delete [] data.data;
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	492	err << "Unknown data type 0x" << hex << dataType->coeCode;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	493	throw MasterException(err.str());
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	494	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	495	} catch (ios::failure &e) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	496	delete [] data.data;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	497	err << "Invalid value argument '" << commandArgs[2]
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	498	<< "' for type '" << dataType->name << "'!";
974 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
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	502	open(ReadWrite);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	503
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	504	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	505	stringstream err;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	506	err << "Failed to download Sdo: ";
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	507	if (errno == EIO && data.abort_code) {
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	508	err << "Abort code 0x" << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	509	<< setw(8) << data.abort_code;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	510	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	511	err << strerror(errno);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	512	}
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	513	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	514	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	515	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	516
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	517	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	518	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	519
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
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	522	void Master::sdoUpload(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	523	int slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	524	const string &dataTypeStr,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	525	const vector<string> &commandArgs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	526	)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	527	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	528	stringstream strIndex, strSubIndex;
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	529	int sval;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	530	ec_ioctl_slave_sdo_upload_t data;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	531	unsigned int uval;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	532	const CoEDataType *dataType = NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	533
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	534	if (slavePosition < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	535	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	536	err << "'sdo_upload' requires a slave! Please specify --slave.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	537	throw MasterException(err.str());
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	data.slave_position = slavePosition;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	540
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	541	if (commandArgs.size() != 2) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	542	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	543	err << "'sdo_upload' takes two arguments!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	544	throw MasterException(err.str());
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
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	547	strIndex << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	548	strIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	549	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	550	>> data.sdo_index;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	551	if (strIndex.fail()) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	552	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	553	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	554	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	555	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	556
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	557	strSubIndex << commandArgs[1];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	558	strSubIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	559	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	560	>> uval;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	561	if (strSubIndex.fail() \|\| uval > 0xff) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	562	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	563	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	564	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	565	}
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	566	data.sdo_entry_subindex = uval;
968 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	if (dataTypeStr != "") { // data type specified
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	569	if (!(dataType = findDataType(dataTypeStr))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	570	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	571	err << "Invalid data type '" << dataTypeStr << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	572	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	573	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	574	} else { // no data type specified: fetch from dictionary
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	575	ec_ioctl_slave_sdo_entry_t entry;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	576
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	577	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	578
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	579	try {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	580	getSdoEntry(&entry, slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	581	data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	582	} catch (MasterException &e) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	583	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	584	err << "Failed to determine Sdo entry data type. "
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	585	<< "Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	586	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	587	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	588	if (!(dataType = findDataType(entry.data_type))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	589	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	590	err << "Pdo entry has unknown data type 0x"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	591	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	592	<< " Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	593	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	594	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	595	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	596
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	597	if (dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	598	data.target_size = dataType->byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	599	} else {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	600	data.target_size = DefaultBufferSize;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	601	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	602
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	603	data.target = new uint8_t[data.target_size + 1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	604
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	605	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	606
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	607	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	608	stringstream err;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	609	err << "Failed to upload Sdo: ";
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	610	if (errno == EIO && data.abort_code) {
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	611	err << "Abort code 0x" << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	612	<< setw(8) << data.abort_code;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	613	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	614	err << strerror(errno);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	615	}
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	616	delete [] data.target;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	617	close();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	618	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	619	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	620
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	621	close();
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	622
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	623	if (dataType->byteSize && data.data_size != dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	624	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	625	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	626	<< " with " << dataType->byteSize << " byte, but got "
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	627	<< data.data_size << " byte.";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	628	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	629	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	630
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	631	cout << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	632	switch (dataType->coeCode) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	633	case 0x0002: // int8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	634	sval = (int8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	635	cout << sval << " 0x" << hex << setw(2) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	636	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	637	case 0x0003: // int16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	638	sval = le16tocpu((int16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	639	cout << sval << " 0x" << hex << setw(4) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	640	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	641	case 0x0004: // int32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	642	sval = le32tocpu((int32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	643	cout << sval << " 0x" << hex << setw(8) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	644	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	645	case 0x0005: // uint8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	646	uval = (unsigned int) (uint8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	647	cout << uval << " 0x" << hex << setw(2) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	648	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	649	case 0x0006: // uint16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	650	uval = le16tocpu((uint16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	651	cout << uval << " 0x" << hex << setw(4) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	652	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	653	case 0x0007: // uint32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	654	uval = le32tocpu((uint32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	655	cout << uval << " 0x" << hex << setw(8) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	656	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	657	case 0x0009: // string
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	658	cout << string((const char *) data.target, data.data_size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	659	<< endl;
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	default:
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	662	printRawData(data.target, data.data_size);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	663	break;
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	delete [] data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	667	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	668
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	669	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	670
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	671	void Master::showSlaves(int slavePosition)
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	672	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	673	open(Read);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	674
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	675	if (verbosity == Verbose) {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	676	if (slavePosition == -1) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	677	unsigned int numSlaves = slaveCount(), i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	678
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	679	for (i = 0; i < numSlaves; i++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	680	showSlave(i);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	681	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	682	} else {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	683	showSlave(slavePosition);
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	684	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	685	} else {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	686	listSlaves(slavePosition);
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	687	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	688	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	689
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	690	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	691
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	692	void Master::siiRead(int slavePosition)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	693	{
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	694	ec_ioctl_slave_sii_t data;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	695	ec_ioctl_slave_t slave;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	696	unsigned int i;
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	697	const uint16_t *categoryHeader;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	698	uint16_t categoryType, categorySize;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	699	stringstream err;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	700
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	701	if (slavePosition < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	702	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	703	err << "'sii_read' requires a slave! Please specify --slave.";
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	704	throw MasterException(err.str());
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	data.slave_position = slavePosition;
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	open(Read);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	709
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	710	getSlave(&slave, slavePosition);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	711
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	712	if (!slave.sii_nwords)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	713	return;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	714
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	715	data.offset = 0;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	716	data.nwords = slave.sii_nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	717	data.words = new uint16_t[data.nwords];
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	718
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	719	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	720	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	721	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	722	err << "Failed to read SII: " << strerror(errno);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	723	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	724	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	725
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	726	if (verbosity == Verbose) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	727	cout << "SII Area:" << hex << setfill('0');
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	728	for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	729	if (i % BreakAfterBytes) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	730	cout << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	731	} else {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	732	cout << endl << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	733	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	734	cout << setw(2) << (unsigned int) ((uint8_t ) data.words + i);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	735	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	736	cout << endl;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	737
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	738	if (data.nwords > 0x0040U) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	739	// cycle through categories
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	740	categoryHeader = data.words + 0x0040U;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	741	categoryType = le16tocpu(*categoryHeader);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	742	while (categoryType != 0xffff) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	743	cout << "SII Category 0x" << hex
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	744	<< setw(4) << categoryType << flush;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	745
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	746	if (categoryHeader + 1 > data.words + data.nwords) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	747	err << "SII data seem to be corrupted!";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	748	throw MasterException(err.str());
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	749	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	750	categorySize = le16tocpu(*(categoryHeader + 1));
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	751	cout << ", " << dec << categorySize << " words" << flush;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	752
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	753	if (categoryHeader + 2 + categorySize > data.words + data.nwords) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	754	err << "SII data seem to be corrupted!";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	755	throw MasterException(err.str());
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	756	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	757
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	758	cout << hex;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	759	for (i = 0; i < categorySize * 2U; i++) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	760	if (i % BreakAfterBytes) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	761	cout << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	762	} else {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	763	cout << endl << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	764	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	765	cout << setw(2) << (unsigned int)
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	766	((uint8_t ) (categoryHeader + 2) + i);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	767	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	768	cout << endl;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	769
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	770	if (categoryHeader + 2 + categorySize + 1
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	771	> data.words + data.nwords) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	772	err << "SII data seem to be corrupted!";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	773	throw MasterException(err.str());
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	774	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	775	categoryHeader += 2 + categorySize;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	776	categoryType = le16tocpu(*categoryHeader);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	777	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	778	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	779	} else {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	780	for (i = 0; i < data.nwords; i++) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	781	uint16_t *w = data.words + i;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	782	cout << (uint8_t ) w << ((uint8_t ) w + 1);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	783	}
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	784	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	785
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	786	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	787	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	788
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	789	/****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	790
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	791	void Master::siiWrite(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	792	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	793	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	794	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	795	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	796	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	797	stringstream err;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	798	ec_ioctl_slave_sii_t data;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	799	ifstream file;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	800	unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	801	const uint16_t *categoryHeader;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	802	uint16_t categoryType, categorySize;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	803	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	804
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	805	if (slavePosition < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	806	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	807	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	808	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	809	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	810
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	811	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	812	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	813	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	814	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	815
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	816	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	817	if (file.fail()) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	818	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	819	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	820	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	821
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	822	// get length of file
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	823	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	824	byte_size = file.tellg();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	825	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	826
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	827	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	828	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	829	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	830	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	831	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	832
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	833	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	834	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	835	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	836	" 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	837	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	838	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	839
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	840	// 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	841	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	842	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	843	file.close();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	844
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	845	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	846	// 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	847	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	848	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	849	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	850	<< 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	851	<< ". 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	852	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	853	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	854
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	855	// cycle through categories to detect corruption
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	856	categoryHeader = data.words + 0x0040U;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	857	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	858	while (categoryType != 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	859	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	860	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	861	<< "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	862	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	863	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	864	categorySize = le16tocpu(*(categoryHeader + 1));
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	865	if (categoryHeader + 2 + categorySize + 1
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	866	> data.words + data.nwords) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	867	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	868	"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	869	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	870	}
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	871	categoryHeader += 2 + categorySize;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	872	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	873	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	874	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	875
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	876	// send data to master
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	877	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	878	data.offset = 0;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	879	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	880	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	881	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	882	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	883	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	884	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	885
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	886	/****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	887
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	888	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	889	int slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	890	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	891	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	892	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	893	string stateStr;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	894	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	895
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	896	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	897	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	898	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	899	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	900	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	901
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	902	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	903	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	904	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	905
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	906	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	907	state = 0x01;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	908	} 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	909	state = 0x02;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	910	} 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	911	state = 0x04;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	912	} 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	913	state = 0x08;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	914	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	915	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	916	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	917	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	918	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	919
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	920	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	921
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	922	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	923	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	924	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	925	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	926	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	927	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	928	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	929	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	930
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	931	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	932
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	933	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	934	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	935	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	936
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	937	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	938	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	939
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	940	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	941	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	942	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	943	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	944	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	945	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	946	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	947
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	948	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	949
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	950	void Master::open(Permissions perm)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	951	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	952	stringstream deviceName;
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	if (fd != -1) { // already open
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	955	return;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	956	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	957
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	958	deviceName << "/dev/EtherCAT" << index;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	959
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	960	if ((fd = ::open(deviceName.str().c_str(),
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	961	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	962	stringstream err;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	963	err << "Failed to open master device " << deviceName.str() << ": "
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	964	<< strerror(errno);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	965	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	966	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	967	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	968
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	969	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	970
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	971	void Master::close()
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	972	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	973	if (fd == -1)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	974	return;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	975
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	976	::close(fd);
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	977	fd = -1;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	978	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	979
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	980	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	981
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	982	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	983	* 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	984	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	985	void Master::writeSlaveAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	986	uint16_t slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	987	uint16_t alias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	988	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	989	{
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	990	ec_ioctl_slave_sii_t data;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	991	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	992	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	993	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	994
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	995	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	996
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	997	getSlave(&slave, slavePosition);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	998
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	999	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	1000	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	1001	<< "(" << slave.sii_nwords << " words)!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1002	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1003	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1004
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1005	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1006	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1007	data.nwords = 8;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1008	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	1009
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1010	// read first 8 SII words
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1011	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1012	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1013	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	1014	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1015	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1016
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1017	// 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	1018	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	1019
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1020	// 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	1021	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	1022
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1023	// 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	1024	(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	1025
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1026	// write first 8 words with new alias and checksum
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1027	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1028	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1029	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	1030	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1031	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1032
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1033	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1034	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1035
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1036	/*****************************************************************************/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1037
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1038	/** Lists the complete bus configuration.
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1039	*/
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1040	void Master::showDetailedConfigs()
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1041	{
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1042	ec_ioctl_master_t master;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1043	unsigned int i, j, k, l;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1044	ec_ioctl_config_t config;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1045	ec_ioctl_config_pdo_t pdo;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1046	ec_ioctl_config_pdo_entry_t entry;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1047	ec_ioctl_config_sdo_t sdo;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1048
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1049	open(Read);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1050	getMaster(&master);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1051
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1052	for (i = 0; i < master.config_count; i++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1053	getConfig(&config, i);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1054
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1055	cout << "Alias: "
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1056	<< dec << config.alias << endl
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1057	<< "Position: " << config.position << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1058	<< "Vendor Id: 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1059	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1060	<< setw(8) << config.vendor_id << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1061	<< "Product code: 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1062	<< setw(8) << config.product_code << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1063	<< "Attached: " << (config.attached ? "yes" : "no") << endl
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1064	<< "Operational: " << (config.operational ? "yes" : "no") << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1065
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	1066	for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1067	if (config.syncs[j].pdo_count) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1068	cout << "SM" << dec << j << " ("
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1069	<< (config.syncs[j].dir == EC_DIR_INPUT
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1070	? "Input" : "Output") << ")" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1071	for (k = 0; k < config.syncs[j].pdo_count; k++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1072	getConfigPdo(&pdo, i, j, k);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1073
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1074	cout << " Pdo 0x" << hex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1075	<< setw(4) << pdo.index
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1076	<< " \"" << pdo.name << "\"" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1077
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1078	for (l = 0; l < pdo.entry_count; l++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1079	getConfigPdoEntry(&entry, i, j, k, l);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1080
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1081	cout << " Pdo entry 0x" << hex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1082	<< setw(4) << entry.index << ":"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1083	<< setw(2) << (unsigned int) entry.subindex
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1084	<< ", " << dec << (unsigned int) entry.bit_length
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1085	<< " bit, \"" << entry.name << "\"" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1086	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1087	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1088	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1089	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1090
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1091	if (config.sdo_count) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1092	cout << "Sdo configuration:" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1093	for (j = 0; j < config.sdo_count; j++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1094	getConfigSdo(&sdo, i, j);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1095
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1096	cout << " 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1097	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1098	<< setw(4) << sdo.index << ":"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1099	<< setw(2) << (unsigned int) sdo.subindex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1100	<< ", " << dec << sdo.size << " byte: " << hex;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1101
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1102	switch (sdo.size) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1103	case 1:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1104	cout << "0x" << setw(2)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1105	<< (unsigned int) (uint8_t ) &sdo.data;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1106	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1107	case 2:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1108	cout << "0x" << setw(4)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1109	<< le16tocpu((uint16_t ) &sdo.data);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1110	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1111	case 4:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1112	cout << "0x" << setw(8)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1113	<< le32tocpu((uint32_t ) &sdo.data);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1114	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1115	default:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1116	cout << "???";
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1117	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1118
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1119	cout << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1120	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1121	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1122
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1123	cout << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1124	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1125	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1126
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1127	/*****************************************************************************/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1128
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1129	struct ConfigInfo {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1130	string alias;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1131	string pos;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1132	string ident;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1133	string att;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1134	string op;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1135	};
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1136
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1137	/** Lists the bus configuration.
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1138	*/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1139	void Master::listConfigs()
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1140	{
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1141	ec_ioctl_master_t master;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1142	unsigned int i;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1143	ec_ioctl_config_t config;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1144	stringstream str;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1145	ConfigInfo info;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1146	typedef list<ConfigInfo> ConfigInfoList;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1147	ConfigInfoList list;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1148	ConfigInfoList::const_iterator iter;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1149	unsigned int maxAliasWidth = 0, maxPosWidth = 0,
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1150	maxAttWidth = 0, maxOpWidth = 0;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1151
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1152	open(Read);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1153	getMaster(&master);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1154
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1155	for (i = 0; i < master.config_count; i++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1156	getConfig(&config, i);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1157
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1158	str << dec << config.alias;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1159	info.alias = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1160	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1161	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1162
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1163	str << config.position;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1164	info.pos = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1165	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1166	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1167
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1168	str << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1169	<< "0x" << setw(8) << config.vendor_id
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1170	<< "/0x" << setw(8) << config.product_code;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1171	info.ident = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1172	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1173	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1174
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1175	str << (config.attached ? "attached" : "-");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1176	info.att = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1177	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1178	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1179
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1180	str << (config.operational ? "operational" : "-");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1181	info.op = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1182	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1183	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1184
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1185	list.push_back(info);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1186
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1187	if (info.alias.length() > maxAliasWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1188	maxAliasWidth = info.alias.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1189	if (info.pos.length() > maxPosWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1190	maxPosWidth = info.pos.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1191	if (info.att.length() > maxAttWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1192	maxAttWidth = info.att.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1193	if (info.op.length() > maxOpWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1194	maxOpWidth = info.op.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1195	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1196
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1197	for (iter = list.begin(); iter != list.end(); iter++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1198	cout << setfill(' ') << right
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1199	<< setw(maxAliasWidth) << iter->alias
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1200	<< ":" << left
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1201	<< setw(maxPosWidth) << iter->pos
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1202	<< " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1203	<< iter->ident
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1204	<< " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1205	<< setw(maxAttWidth) << iter->att << " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1206	<< setw(maxOpWidth) << iter->op << " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1207	<< endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1208	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1209	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1210
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1211	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1212
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1213	void Master::outputDomainData(unsigned int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1214	{
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1215	ec_ioctl_domain_t domain;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1216	ec_ioctl_domain_data_t data;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1217	unsigned char *processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1218	unsigned int i;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1219
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1220	getDomain(&domain, domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1221
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1222	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1223	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1224
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1225	processData = new unsigned char[domain.data_size];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1226
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1227	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1228	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	1229	} catch (MasterException &e) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1230	delete [] processData;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1231	throw e;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1232	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1233
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1234	for (i = 0; i < data.data_size; i++)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1235	cout << processData[i];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1236	cout.flush();
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1237
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1238	delete [] processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1239	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1240
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1241	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1242
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1243	void Master::showDomain(unsigned int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1244	{
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1245	ec_ioctl_domain_t domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1246	unsigned char *processData;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1247	ec_ioctl_domain_data_t data;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1248	unsigned int i, j;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1249	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	1250	unsigned int dataOffset;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1251
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1252	getDomain(&domain, domainIndex);
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1253
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1254	cout << "Domain" << dec << domainIndex << ":"
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1255	<< " LogBaseAddr 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1256	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1257	<< setw(8) << domain.logical_base_address
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1258	<< ", Size " << dec << setfill(' ')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1259	<< setw(3) << domain.data_size
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1260	<< ", WorkingCounter "
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1261	<< domain.working_counter << "/"
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1262	<< 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	1263
1100 af0b187de6ef Show domain data only if verbose. Florian Pose <fp@igh-essen.com> parents: 1099 diff changeset	1264	if (!domain.data_size \|\| verbosity != Verbose)
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1265	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1266
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1267	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	1268
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1269	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1270	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	1271	} catch (MasterException &e) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1272	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1273	throw e;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1274	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1275
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1276	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	1277	getFmmu(&fmmu, domainIndex, i);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1278
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1279	cout << " SlaveConfig "
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1280	<< dec << fmmu.slave_config_alias
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1281	<< ":" << fmmu.slave_config_position
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1282	<< ", SM" << (unsigned int) fmmu.sync_index << " ("
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1283	<< setfill(' ') << setw(6)
1062 75a2b2934e2b Show sync manager index in 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	1284	<< (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1285	<< "), LogAddr 0x"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1286	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1287	<< setw(8) << fmmu.logical_address
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1288	<< ", 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	1289
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1290	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	1291	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	1292	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1293	err << "Fmmu information corrupted!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1294	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1295	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1296	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1297
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1298	cout << " " << hex << setfill('0');
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1299	for (j = 0; j < fmmu.data_size; j++) {
1101 f8d13814af03 Break domain output data after 16 bytes. Florian Pose <fp@igh-essen.com> parents: 1100 diff changeset	1300	if (j && !(j % BreakAfterBytes))
f8d13814af03 Break domain output data after 16 bytes. Florian Pose <fp@igh-essen.com> parents: 1100 diff changeset	1301	cout << endl << " ";
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1302	cout << setw(2)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1303	<< (unsigned int) *(processData + dataOffset + j) << " ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1304	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1305	cout << endl;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1306	}
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	delete [] processData;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1309	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1310
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1311	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1312
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1313	void Master::listSlavePdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1314	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1315	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1316	)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1317	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1318	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1319	ec_ioctl_slave_sync_t sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1320	ec_ioctl_slave_sync_pdo_t pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1321	ec_ioctl_slave_sync_pdo_entry_t entry;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1322	unsigned int i, j, k;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1323
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1324	getSlave(&slave, slavePosition);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1325
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1326	if (withHeader)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1327	cout << "=== Slave " << slavePosition << " ===" << endl;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1328
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1329	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	1330	getSync(&sync, slavePosition, i);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1331
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1332	cout << "SM" << i << ":"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1333	<< " PhysAddr 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1334	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1335	<< setw(4) << sync.physical_start_address
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1336	<< ", DefaultSize "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1337	<< dec << setfill(' ') << setw(4) << sync.default_size
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1338	<< ", ControlRegister 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1339	<< hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1340	<< (unsigned int) sync.control_register
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1341	<< ", Enable " << dec << (unsigned int) sync.enable
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1342	<< endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1343
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1344	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	1345	getPdo(&pdo, slavePosition, i, j);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1346
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1347	cout << " " << (sync.control_register & 0x04 ? "R" : "T")
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1348	<< "xPdo 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1349	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1350	<< setw(4) << pdo.index
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1351	<< " \"" << pdo.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1352
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1353	if (verbosity == Quiet)
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1354	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1355
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1356	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	1357	getPdoEntry(&entry, slavePosition, i, j, k);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1358
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1359	cout << " Pdo entry 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1360	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1361	<< setw(4) << entry.index
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1362	<< ":" << setw(2) << (unsigned int) entry.subindex
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1363	<< ", " << dec << (unsigned int) entry.bit_length
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1364	<< " bit, \"" << entry.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1365	}
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	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1369
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
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1372	void Master::listSlaveSdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1373	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1374	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1375	)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1376	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1377	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1378	ec_ioctl_slave_sdo_t sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1379	ec_ioctl_slave_sdo_entry_t entry;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1380	unsigned int i, j;
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1381	const CoEDataType *d;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1382
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1383	getSlave(&slave, slavePosition);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1384
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1385	if (withHeader)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1386	cout << "=== Slave " << slavePosition << " ===" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1387
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1388	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	1389	getSdo(&sdo, slavePosition, i);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1390
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1391	cout << "Sdo 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1392	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1393	<< setw(4) << sdo.sdo_index
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1394	<< ", \"" << sdo.name << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1395
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1396	if (verbosity == Quiet)
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1397	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1398
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1399	for (j = 0; j <= sdo.max_subindex; j++) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1400	getSdoEntry(&entry, slavePosition, -i, j);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1401
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1402	cout << " 0x" << hex << setfill('0')
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1403	<< setw(4) << sdo.sdo_index << ":"
983 efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1404	<< 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	1405	<< ", ";
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1406
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1407	if ((d = findDataType(entry.data_type))) {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1408	cout << d->name;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1409	} else {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1410	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	1411	}
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1412
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1413	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	1414	<< entry.description << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1415	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1416	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1417	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1418
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1419	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1420
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1421	struct SlaveInfo {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1422	string pos;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1423	string alias;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1424	string relPos;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1425	string state;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1426	string flag;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1427	string name;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1428	};
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1429
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1430	void Master::listSlaves(int slavePosition)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1431	{
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1432	unsigned int numSlaves, i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1433	ec_ioctl_slave_t slave;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1434	uint16_t lastAlias, aliasIndex;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1435	SlaveInfo slaveInfo;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1436	typedef list<SlaveInfo> SlaveInfoList;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1437	SlaveInfoList slaveInfoList;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1438	SlaveInfoList::const_iterator iter;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1439	stringstream str;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1440	unsigned int maxPosWidth = 0, maxAliasWidth = 0,
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1441	maxRelPosWidth = 0, maxStateWidth = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1442
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1443	open(Read);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1444
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1445	numSlaves = slaveCount();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1446
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1447	lastAlias = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1448	aliasIndex = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1449	for (i = 0; i < numSlaves; i++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1450	getSlave(&slave, i);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1451
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1452	if (slave.alias) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1453	lastAlias = slave.alias;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1454	aliasIndex = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1455	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1456
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1457	if (slavePosition == -1 \|\| i == (unsigned int) slavePosition) {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1458	str << dec << i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1459	slaveInfo.pos = str.str();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1460	str.clear();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1461	str.str("");
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1462
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1463	str << lastAlias;
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1464	slaveInfo.alias = str.str();
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1465	str.str("");
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1466
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1467	str << aliasIndex;
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1468	slaveInfo.relPos = str.str();
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1469	str.str("");
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1470
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1471	slaveInfo.state = slaveState(slave.state);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1472	slaveInfo.flag = (slave.error_flag ? 'E' : '+');
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1473
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1474	if (strlen(slave.name)) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1475	slaveInfo.name = slave.name;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1476	} else {
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1477	str << "0x" << hex << setfill('0')
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1478	<< setw(8) << slave.vendor_id << ":0x"
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1479	<< setw(8) << slave.product_code;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1480	slaveInfo.name = str.str();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1481	str.str("");
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1482	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1483
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1484
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1485	slaveInfoList.push_back(slaveInfo);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1486
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1487	if (slaveInfo.pos.length() > maxPosWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1488	maxPosWidth = slaveInfo.pos.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1489	if (slaveInfo.alias.length() > maxAliasWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1490	maxAliasWidth = slaveInfo.alias.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1491	if (slaveInfo.relPos.length() > maxRelPosWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1492	maxRelPosWidth = slaveInfo.relPos.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1493	if (slaveInfo.state.length() > maxStateWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1494	maxStateWidth = slaveInfo.state.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1495	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1496
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1497	aliasIndex++;
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1498	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1499
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1500	for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1501	cout << setfill(' ') << right
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1502	<< setw(maxPosWidth) << iter->pos << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1503	<< setw(maxAliasWidth) << iter->alias
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1504	<< ":" << left
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1505	<< setw(maxRelPosWidth) << iter->relPos << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1506	<< setw(maxStateWidth) << iter->state << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1507	<< iter->flag << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1508	<< iter->name << endl;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1509	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1510	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1511
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1512	/****************************************************************************/
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1513
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1514	void Master::showSlave(uint16_t slavePosition)
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1515	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1516	ec_ioctl_slave_t slave;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1517	list<string> protoList;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1518	list<string>::const_iterator protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1519
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1520	getSlave(&slave, slavePosition);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1521
1069 ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1522	cout << "=== Slave " << dec << slavePosition << " ===" << endl;
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1523
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1524	if (slave.alias)
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1525	cout << "Alias: " << slave.alias << endl;
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1526
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1527	cout
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1528	<< "State: " << slaveState(slave.state) << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1529	<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1530	<< "Identity:" << endl
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1531	<< " Vendor Id: 0x"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1532	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1533	<< setw(8) << slave.vendor_id << endl
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1534	<< " Product code: 0x"
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1535	<< setw(8) << slave.product_code << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1536	<< " Revision number: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1537	<< setw(8) << slave.revision_number << endl
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1538	<< " Serial number: 0x"
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1539	<< setw(8) << slave.serial_number << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1540
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1541	if (slave.mailbox_protocols) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1542	cout << "Mailboxes:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1543	<< " RX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1544	<< hex << setw(4) << slave.rx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1545	<< dec << slave.rx_mailbox_size
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1546	<< ", TX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1547	<< hex << setw(4) << slave.tx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1548	<< dec << slave.tx_mailbox_size << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1549	<< " Supported protocols: ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1550
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1551	if (slave.mailbox_protocols & EC_MBOX_AOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1552	protoList.push_back("AoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1553	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1554	if (slave.mailbox_protocols & EC_MBOX_EOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1555	protoList.push_back("EoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1556	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1557	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1558	protoList.push_back("CoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1559	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1560	if (slave.mailbox_protocols & EC_MBOX_FOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1561	protoList.push_back("FoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1562	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1563	if (slave.mailbox_protocols & EC_MBOX_SOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1564	protoList.push_back("SoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1565	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1566	if (slave.mailbox_protocols & EC_MBOX_VOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1567	protoList.push_back("VoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1568	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1569
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1570	for (protoIter = protoList.begin(); protoIter != protoList.end();
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1571	protoIter++) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1572	if (protoIter != protoList.begin())
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1573	cout << ", ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1574	cout << *protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1575	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1576	cout << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1577	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1578
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1579	if (slave.has_general_category) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1580	cout << "General:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1581	<< " Name: " << slave.name << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1582
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1583	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1584	cout << " CoE details:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1585	<< " Enable Sdo: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1586	<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1587	<< " Enable Sdo Info: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1588	<< (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1589	<< " Enable Pdo Assign: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1590	<< (slave.coe_details.enable_pdo_assign
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1591	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1592	<< " Enable Pdo Configuration: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1593	<< (slave.coe_details.enable_pdo_configuration
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1594	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1595	<< " Enable Upload at startup: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1596	<< (slave.coe_details.enable_upload_at_startup
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1597	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1598	<< " Enable Sdo complete access: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1599	<< (slave.coe_details.enable_sdo_complete_access
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1600	? "yes" : "no") << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1601	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1602
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1603	cout << " Flags:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1604	<< " Enable SafeOp: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1605	<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1606	<< " Enable notLRW: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1607	<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1608	<< " Current consumption: "
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1609	<< dec << slave.current_on_ebus << " mA" << endl;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1610	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1611	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1612
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1613	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1614
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1615	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	1616	{
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1617	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1618	ec_ioctl_slave_sync_t sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1619	ec_ioctl_slave_sync_pdo_t pdo;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1620	string pdoType;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1621	ec_ioctl_slave_sync_pdo_entry_t entry;
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1622	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	1623
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1624	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	1625
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1626	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1627	<< "<?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	1628	<< " <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	1629	<< " <!-- 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	1630	<< " <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	1631	<< " <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	1632	<< " </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	1633	<< " <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	1634	<< " <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	1635	<< " <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	1636	<< " <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	1637	<< 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	1638	<< "\" 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	1639	<< 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	1640	<< "\"/>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1641
1073 f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1642	if (strlen(slave.name)) {
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1643	cout
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1644	<< " <Name><![CDATA["
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1645	<< slave.name
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1646	<< "]]></Name>" << endl;
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1647	}
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1648
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1649	for (i = 0; i < slave.sync_count; i++) {
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1650	getSync(&sync, slavePosition, i);
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1651
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1652	cout
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1653	<< " <Sm Enable=\"" << dec << (unsigned int) sync.enable
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1654	<< "\" StartAddress=\"" << sync.physical_start_address
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1655	<< "\" ControlByte=\"" << (unsigned int) sync.control_register
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1656	<< "\" DefaultSize=\"" << sync.default_size
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1657	<< "\" />" << endl;
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1658	}
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1659
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1660	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	1661	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	1662
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1663	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	1664	getPdo(&pdo, slavePosition, i, j);
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1665	pdoType = (sync.control_register & 0x04 ? "R" : "T");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1666	pdoType += "xPdo";
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1667
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1668	cout
1071 82122748f4e0 Added Fixed="1" to Pdo element. Florian Pose <fp@igh-essen.com> parents: 1070 diff changeset	1669	<< " <" << pdoType
82122748f4e0 Added Fixed="1" to Pdo element. Florian Pose <fp@igh-essen.com> parents: 1070 diff changeset	1670	<< " Sm=\"" << i << "\" Fixed=\"1\">" << endl
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1671	<< " <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	1672	<< 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	1673	<< "</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	1674	<< " <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	1675
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1676	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	1677	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	1678
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1679	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1680	<< " <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	1681	<< " <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	1682	<< 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	1683	<< "</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	1684	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	1685	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1686	<< " <SubIndex>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1687	<< 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	1688	<< "</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	1689
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1690	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1691	<< " <BitLen>"
1030 d7970e934dba Bugfix: Bitlength always decimal in XML. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	1692	<< dec << (unsigned int) entry.bit_length
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1693	<< "</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	1694
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1695	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	1696	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1697	<< " <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	1698	<< "</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	1699	<< " <DataType>";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1700
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1701	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	1702	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	1703	} 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	1704	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	1705	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	1706	else
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1707	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	1708	<< (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	1709	<< ")";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1710	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1711	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	1712	<< (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	1713	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1714
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1715	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	1716	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1717
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1718	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	1719	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1720
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1721	cout
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1722	<< " </" << pdoType << ">" << endl;
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1723	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1724	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1725
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1726	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1727	<< " </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	1728	<< " </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	1729	<< " </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	1730	<< "</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	1731	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1732
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1733	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1734
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1735	unsigned int Master::slaveCount()
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1736	{
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1737	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	1738
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1739	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1740	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	1741	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1742
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1743	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1744
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1745	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	1746	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1747	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	1748	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1749	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	1750	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	1751	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1752	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1753
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1754	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1755
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1756	void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1757	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1758	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1759
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1760	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1761	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1762	err << "Failed to get slave configuration: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1763	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1764	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1765	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1766
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1767	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1768
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1769	void Master::getConfigPdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1770	ec_ioctl_config_pdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1771	unsigned int index,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1772	uint8_t sync_index,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1773	uint16_t pdo_pos
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1774	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1775	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1776	data->config_index = index;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1777	data->sync_index = sync_index;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1778	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1779
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1780	if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1781	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1782	err << "Failed to get slave config Pdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1783	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1784	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1785	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1786
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1787	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1788
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1789	void Master::getConfigPdoEntry(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1790	ec_ioctl_config_pdo_entry_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1791	unsigned int index,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1792	uint8_t sync_index,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1793	uint16_t pdo_pos,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1794	uint8_t entry_pos
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1795	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1796	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1797	data->config_index = index;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1798	data->sync_index = sync_index;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1799	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1800	data->entry_pos = entry_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1801
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1802	if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1803	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1804	err << "Failed to get slave config Pdo entry: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1805	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1806	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1807	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1808
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1809	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1810
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1811	void Master::getConfigSdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1812	ec_ioctl_config_sdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1813	unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1814	unsigned int sdo_pos
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1815	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1816	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1817	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1818	data->sdo_pos = sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1819
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1820	if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1821	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1822	err << "Failed to get slave config Sdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1823	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1824	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1825	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1826
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1827	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1828
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1829	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	1830	{
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1831	data->index = index;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1832
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1833	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1834	stringstream err;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1835	err << "Failed to get domain: ";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1836	if (errno == EINVAL)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1837	err << "Domain " << index << " does not exist!";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1838	else
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1839	err << strerror(errno);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1840	throw MasterException(err.str());
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1841	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1842	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1843
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1844	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1845
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1846	void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1847	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	1848	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1849	data->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1850	data->data_size = dataSize;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1851	data->target = mem;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1852
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1853	if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1854	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1855	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	1856	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1857	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1858	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1859
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1860	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1861
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1862	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	1863	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1864	slave->position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1865
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1866	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1867	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1868	err << "Failed to get slave: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1869	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1870	err << "Slave " << slaveIndex << " does not exist!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1871	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1872	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1873	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1874	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1875	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1876
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1877	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1878
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1879	void Master::getFmmu(
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1880	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	1881	unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1882	unsigned int fmmuIndex
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1883	)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1884	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1885	fmmu->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1886	fmmu->fmmu_index = fmmuIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1887
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1888	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	1889	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1890	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	1891	if (errno == EINVAL)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1892	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	1893	<< "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	1894	<< " FMMus!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1895	else
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1896	err << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1897	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1898	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1899	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1900
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1901	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1902
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1903	void Master::getSync(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1904	ec_ioctl_slave_sync_t *sync,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1905	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1906	uint8_t syncIndex
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1907	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1908	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1909	sync->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1910	sync->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1911
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1912	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1913	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1914	err << "Failed to get sync manager: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1915	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1916	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	1917	<< "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	1918	<< " sync managers!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1919	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1920	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1921	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1922	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1923	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1924
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1925	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1926
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1927	void Master::getPdo(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1928	ec_ioctl_slave_sync_pdo_t *pdo,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1929	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1930	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1931	uint8_t pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1932	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1933	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1934	pdo->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1935	pdo->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1936	pdo->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1937
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1938	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1939	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1940	err << "Failed to get Pdo: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1941	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1942	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	1943	<< "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	1944	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1945	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1946	<< pdoPos + 1 << " Pdos!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1947	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1948	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1949	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1950	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1951	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1952
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1953	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1954
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1955	void Master::getPdoEntry(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1956	ec_ioctl_slave_sync_pdo_entry_t *entry,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1957	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1958	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1959	uint8_t pdoPos,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1960	uint8_t entryPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1961	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1962	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1963	entry->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1964	entry->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1965	entry->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1966	entry->entry_pos = entryPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1967
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1968	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1969	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1970	err << "Failed to get Pdo entry: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1971	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1972	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	1973	<< "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	1974	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1975	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1976	<< 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	1977	<< " contains less than " << (unsigned int) entryPos + 1
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1978	<< " entries!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1979	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1980	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1981	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1982	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1983	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1984
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1985	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1986
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1987	void Master::getSdo(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1988	ec_ioctl_slave_sdo_t *sdo,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1989	uint16_t slaveIndex,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1990	uint16_t sdoPosition
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1991	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1992	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1993	sdo->slave_position = slaveIndex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1994	sdo->sdo_position = sdoPosition;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1995
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1996	if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1997	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1998	err << "Failed to get Sdo: ";
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1999	if (errno == EINVAL)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2000	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	2001	<< "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	2002	<< endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2003	else
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2004	err << strerror(errno);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2005	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2006	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2007	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2008
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2009	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2010
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2011	void Master::getSdoEntry(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2012	ec_ioctl_slave_sdo_entry_t *entry,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2013	uint16_t slaveIndex,
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2014	int sdoSpec,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2015	uint8_t entrySubindex
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2016	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2017	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2018	entry->slave_position = slaveIndex;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2019	entry->sdo_spec = sdoSpec;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2020	entry->sdo_entry_subindex = entrySubindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2021
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2022	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2023	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2024	err << "Failed to get Sdo entry: ";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2025	err << strerror(errno);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2026	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2027	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2028	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2029
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2030	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2031
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2032	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	2033	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	2034	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	2035	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2036	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2037	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	2038
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2039	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	2040	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	2041
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2042	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	2043	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2044	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	2045	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	2046	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	2047	else
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2048	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	2049	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	2050	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2051	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2052
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2053	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2054
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2055	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	2056	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2057	switch (state) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2058	case 1: return "INIT";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2059	case 2: return "PREOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2060	case 4: return "SAFEOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2061	case 8: return "OP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2062	default: return "???";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2063	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2064	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2065
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2066	/****************************************************************************/
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2067
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2068	void Master::printRawData(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2069	const uint8_t *data,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2070	unsigned int size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2071	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2072	cout << hex << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2073	while (size--) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2074	cout << "0x" << setw(2) << (unsigned int) *data++;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2075	if (size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2076	cout << " ";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2077	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2078	cout << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2079	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2080
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2081	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2082
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2083	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2084	* 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	2085	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2086	* 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	2087	* 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	2088	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2089	* 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	2090	* 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	2091	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2092	* ./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	2093	* --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	2094	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2095	* \return CRC8
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2096	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2097	uint8_t Master::calcSiiCrc(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2098	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	2099	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	2100	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2101	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2102	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2103	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	2104
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2105	while (length--) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2106	byte = *data++;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2107	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	2108	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2109	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	2110	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2111	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2112	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2113
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2114	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	2115	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2116	crc <<= 1;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2117	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2118	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2119
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2120	return crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2121	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2122
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2123	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 07 Jul 2008 08:46:41 +0000
changeset 1102	5461894b05ab
parent 1101	f8d13814af03
child 1103	b6998e916d5a
permissions	-rw-r--r--