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

     2

 *

     3

 * $Id$

     4

 *

     5

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

     6

     7

#include <sys/types.h>

     8

#include <sys/stat.h>

     9

#include <fcntl.h>

    10

#include <errno.h>

    11

#include <sys/ioctl.h>

    12

    13

#include <iostream>

    14

#include <iomanip>

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#include <sstream>

    16

#include <fstream>

    17

#include <cctype> // toupper()

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using namespace std;

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#include "Master.h"

    21

    22

#define swap16(x) \

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        ((uint16_t)( \

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        (((uint16_t)(x) & 0x00ffU) << 8) | \

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        (((uint16_t)(x) & 0xff00U) >> 8) ))

    26

#define swap32(x) \

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        ((uint32_t)( \

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        (((uint32_t)(x) & 0x000000ffUL) << 24) | \

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        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \

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        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \

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        (((uint32_t)(x) & 0xff000000UL) >> 24) ))

    32

    33

#if __BYTE_ORDER == __LITTLE_ENDIAN

    34

    35

#define le16tocpu(x) x

    36

#define le32tocpu(x) x

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    38

#define cputole16(x) x

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#define cputole32(x) x

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    41

#elif __BYTE_ORDER == __BIG_ENDIAN

    42

    43

#define le16tocpu(x) swap16(x)

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#define le32tocpu(x) swap32(x)

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    46

#define cputole16(x) swap16(x)

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#define cputole32(x) swap32(x)

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    49

#endif

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    51

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

    52

    53

struct CoEDataType {

    54

    const char *name;

    55

    uint16_t coeCode;

    56

    unsigned int byteSize;

    57

};

    58

    59

static const CoEDataType dataTypes[] = {

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    {"int8",   0x0002, 1},

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    {"int16",  0x0003, 2},

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    {"int32",  0x0004, 4},

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    {"uint8",  0x0005, 1},

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    {"uint16", 0x0006, 2},

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    {"uint32", 0x0007, 4},

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    {"string", 0x0009, 0},

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    {"raw",    0xffff, 0},

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    {}

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};

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

    72

    73

const CoEDataType *findDataType(const string &str)

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{

    75

    const CoEDataType *d;

    76

    77

    for (d = dataTypes; d->name; d++)

    78

        if (str == d->name)

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            return d;

    80

    81

    return NULL;

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}

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

    85

    86

const CoEDataType *findDataType(uint16_t code)

    87

{

    88

    const CoEDataType *d;

    89

    90

    for (d = dataTypes; d->name; d++)

    91

        if (code == d->coeCode)

    92

            return d;

    93

    94

    return NULL;

    95

}

    96

    97

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

    98

    99

Master::Master()

   100

{

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    index = 0;

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    fd = -1;

   103

    currentPermissions = Read;

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}

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

   107

   108

Master::~Master()

   109

{

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    close();

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}

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

   114

   115

void Master::setIndex(unsigned int i)

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{

   117

    index = i;

   118

}

   119

   120

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

   121

   122

/**

   123

 * Writes the Secondary slave address (alias) to the slave's SII.

   124

 */

   125

void Master::writeAlias(

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        int slavePosition,

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        bool force,

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        const vector<string> &commandArgs

   129

        )

   130

{

   131

    ec_ioctl_sii_t data;

   132

    ec_ioctl_slave_t slave;

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    unsigned int i;

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    uint16_t alias;

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    stringstream err, strAlias;

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    int number;

   137

   138

    if (commandArgs.size() != 1) {

   139

        stringstream err;

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        err << "'alias' takes exactly one argument!";

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        throw MasterException(err.str());

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    }

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    strAlias << commandArgs[0];

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    strAlias >> hex >> number;

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    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {

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        err << "Invalid alias '" << commandArgs[0] << "'!";

   148

        throw MasterException(err.str());

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    }

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    alias = number;

   151

   152

    if (slavePosition == -1) {

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        unsigned int numSlaves, i;

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   155

        if (!force) {

   156

            err << "This will write the alias addresses of all slaves to 0x"

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                << hex << setfill('0') << setw(4) << alias << "! "

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                << "Please specify --force to proceed.";

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            throw MasterException(err.str());

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        }

   161

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        open(ReadWrite);

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        numSlaves = slaveCount();

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   165

        for (i = 0; i < numSlaves; i++) {

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            writeSlaveAlias(i, alias);

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        }

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    } else {

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        open(ReadWrite);

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        writeSlaveAlias(slavePosition, alias);

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    }

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}

   173

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

   175

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void Master::outputData(int domainIndex)

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{

   178

    open(Read);

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   180

    if (domainIndex == -1) {

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        unsigned int numDomains = domainCount(), i;

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   183

        for (i = 0; i < numDomains; i++) {

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            outputDomainData(i);

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        }

   186

    } else {

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        outputDomainData(domainIndex);

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    }

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}

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

   192

   193

void Master::setDebug(const vector<string> &commandArgs)

   194

{

   195

    stringstream str;

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    int debugLevel;

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   198

    if (commandArgs.size() != 1) {

   199

        stringstream err;

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        err << "'debug' takes exactly one argument!";

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        throw MasterException(err.str());

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    }

   203

   204

    str << commandArgs[0];

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    str >> debugLevel;

   206

   207

    if (str.fail()) {

   208

        stringstream err;

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        err << "Invalid debug level '" << commandArgs[0] << "'!";

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        throw MasterException(err.str());

   211

    }

   212

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    open(ReadWrite);

   214

   215

    if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {

   216

        stringstream err;

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        err << "Failed to set debug level: " << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

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void Master::showDomains(int domainIndex)

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{

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    open(Read);

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   228

    if (domainIndex == -1) {

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        unsigned int numDomains = domainCount(), i;

   230

   231

        for (i = 0; i < numDomains; i++) {

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            showDomain(i);

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        }

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    } else {

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        showDomain(domainIndex);

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    }

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}

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

   240

   241

void Master::listSlaves()

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{

   243

    unsigned int numSlaves, i;

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    ec_ioctl_slave_t slave;

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    uint16_t lastAlias, aliasIndex;

   246

   247

    open(Read);

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   249

    numSlaves = slaveCount();

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   251

    lastAlias = 0;

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    aliasIndex = 0;

   253

    for (i = 0; i < numSlaves; i++) {

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        getSlave(&slave, i);

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        cout << setfill(' ') << setw(2) << i << "  ";

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   257

        if (slave.alias) {

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            lastAlias = slave.alias;

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            aliasIndex = 0;

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        }

   261

        if (lastAlias) {

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            cout << "#"

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                << hex << setfill('0') << setw(4) << lastAlias

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                << ":" << dec << aliasIndex;

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            aliasIndex++;

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        }

   267

   268

        cout << "  " << slaveState(slave.state) << "  ";

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   270

        if (strlen(slave.name)) {

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            cout << slave.name;

   272

        } else {

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            cout << hex << setfill('0')

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                << setw(8) << slave.vendor_id << ":"

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                << setw(8) << slave.product_code << dec;

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        }

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   278

        cout << endl;

   279

    }

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}

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

   283

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void Master::showMaster()

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{

   286

    ec_ioctl_master_t data;

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    stringstream err;

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    unsigned int i;

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   290

    open(Read);

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    getMaster(&data);

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   293

    cout

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        << "Master" << index << endl

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        << "  State: ";

   296

   297

    switch (data.mode) {

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        case 0: cout << "Waiting for device..."; break;

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        case 1: cout << "Idle"; break;

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        case 2: cout << "Operation"; break;

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        default:

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                err << "Invalid master state " << data.mode;

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                throw MasterException(err.str());

   304

    }

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   306

    cout << endl

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        << "  Slaves: " << data.slave_count << endl;

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   309

    for (i = 0; i < 2; i++) {

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        cout << "  Device" << i << ": ";

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        if (data.devices[i].address[0] == 0x00

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                && data.devices[i].address[1] == 0x00

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                && data.devices[i].address[2] == 0x00

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                && data.devices[i].address[3] == 0x00

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                && data.devices[i].address[4] == 0x00

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                && data.devices[i].address[5] == 0x00) {

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            cout << "None.";

   318

        } else {

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            cout << hex << setfill('0')

   320

                << setw(2) << (unsigned int) data.devices[i].address[0] << ":"

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                << setw(2) << (unsigned int) data.devices[i].address[1] << ":"

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                << setw(2) << (unsigned int) data.devices[i].address[2] << ":"

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                << setw(2) << (unsigned int) data.devices[i].address[3] << ":"

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                << setw(2) << (unsigned int) data.devices[i].address[4] << ":"

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                << setw(2) << (unsigned int) data.devices[i].address[5] << " ("

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                << (data.devices[i].attached ? "attached" : "waiting...")

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                << ")" << endl << dec

   328

                << "    Tx count: " << data.devices[i].tx_count << endl

   329

                << "    Rx count: " << data.devices[i].rx_count;

   330

        }

   331

        cout << endl;

   332

    }

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}

   334

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

   336

   337

void Master::listPdos(int slavePosition, bool quiet)

   338

{

   339

    open(Read);

   340

   341

    if (slavePosition == -1) {

   342

        unsigned int numSlaves = slaveCount(), i;

   343

   344

        for (i = 0; i < numSlaves; i++) {

   345

            listSlavePdos(i, quiet, true);

   346

        }

   347

    } else {

   348

        listSlavePdos(slavePosition, quiet, false);

   349

    }

   350

}

   351

   352

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

   353

   354

void Master::listSdos(int slavePosition, bool quiet)

   355

{

   356

    open(Read);

   357

   358

    if (slavePosition == -1) {

   359

        unsigned int numSlaves = slaveCount(), i;

   360

   361

        for (i = 0; i < numSlaves; i++) {

   362

            listSlaveSdos(i, quiet, true);

   363

        }

   364

    } else {

   365

        listSlaveSdos(slavePosition, quiet, false);

   366

    }

   367

}

   368

   369

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

   370

   371

void Master::sdoDownload(

   372

        int slavePosition,

   373

        const string &dataTypeStr,

   374

        const vector<string> &commandArgs

   375

        )

   376

{

   377

    stringstream strIndex, strSubIndex, strValue, err;

   378

    int number, sval;

   379

    ec_ioctl_sdo_download_t data;

   380

    unsigned int i, uval;

   381

    const CoEDataType *dataType = NULL;

   382

   383

    if (slavePosition < 0) {

   384

        err << "'sdo_download' requires a slave! Please specify --slave.";

   385

        throw MasterException(err.str());

   386

    }

   387

    data.slave_position = slavePosition;

   388

   389

    if (commandArgs.size() != 3) {

   390

        err << "'sdo_download' takes 3 arguments!";

   391

        throw MasterException(err.str());

   392

    }

   393

   394

    strIndex << commandArgs[0];

   395

    strIndex >> hex >> number;

   396

    if (strIndex.fail() || number < 0x0000 || number > 0xffff) {

   397

        err << "Invalid Sdo index '" << commandArgs[0] << "'!";

   398

        throw MasterException(err.str());

   399

    }

   400

    data.sdo_index = number;

   401

   402

    strSubIndex << commandArgs[1];

   403

    strSubIndex >> hex >> number;

   404

    if (strSubIndex.fail() || number < 0x00 || number > 0xff) {

   405

        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";

   406

        throw MasterException(err.str());

   407

    }

   408

    data.sdo_entry_subindex = number;

   409

   410

    if (dataTypeStr != "") { // data type specified

   411

        if (!(dataType = findDataType(dataTypeStr))) {

   412

            err << "Invalid data type '" << dataTypeStr << "'!";

   413

            throw MasterException(err.str());

   414

        }

   415

    } else { // no data type specified: fetch from dictionary

   416

        ec_ioctl_sdo_entry_t entry;

   417

        unsigned int entryByteSize;

   418

   419

        open(Read);

   420

   421

        try {

   422

            getSdoEntry(&entry, slavePosition,

   423

                    data.sdo_index, data.sdo_entry_subindex);

   424

        } catch (MasterException &e) {

   425

            err << "Failed to determine Sdo entry data type. "

   426

                << "Please specify --type.";

   427

            throw MasterException(err.str());

   428

        }

   429

        if (!(dataType = findDataType(entry.data_type))) {

   430

            err << "Pdo entry has unknown data type 0x"

   431

                << hex << setfill('0') << setw(4) << entry.data_type << "!"

   432

                << " Please specify --type.";

   433

            throw MasterException(err.str());

   434

        }

   435

    }

   436

   437

    if (dataType->byteSize) {

   438

        data.data_size = dataType->byteSize;

   439

    } else {

   440

        data.data_size = DefaultBufferSize;

   441

    }

   442

   443

    data.data = new uint8_t[data.data_size + 1];

   444

   445

    strValue << commandArgs[2];

   446

   447

    switch (dataType->coeCode) {

   448

        case 0x0002: // int8

   449

            strValue >> sval;

   450

            if ((uint32_t) sval > 0xff) {

   451

                delete [] data.data;

   452

                err << "Invalid value for type '"

   453

                    << dataType->name << "'!";

   454

                throw MasterException(err.str());

   455

            }

   456

            *data.data = (int8_t) sval;

   457

            break;

   458

        case 0x0003: // int16

   459

            strValue >> sval;

   460

            if ((uint32_t) sval > 0xffff) {

   461

                delete [] data.data;

   462

                err << "Invalid value for type '"

   463

                    << dataType->name << "'!";

   464

                throw MasterException(err.str());

   465

            }

   466

            *(int16_t *) data.data = cputole16(sval);

   467

            break;

   468

        case 0x0004: // int32

   469

            strValue >> sval;

   470

            *(int32_t *) data.data = cputole32(sval);

   471

            break;

   472

        case 0x0005: // uint8

   473

            strValue >> uval;

   474

            if ((uint32_t) uval > 0xff) {

   475

                delete [] data.data;

   476

                err << "Invalid value for type '"

   477

                    << dataType->name << "'!";

   478

                throw MasterException(err.str());

   479

            }

   480

            *data.data = (uint8_t) uval;

   481

            break;

   482

        case 0x0006: // uint16

   483

            strValue >> uval;

   484

            if ((uint32_t) uval > 0xffff) {

   485

                delete [] data.data;

   486

                err << "Invalid value for type '"

   487

                    << dataType->name << "'!";

   488

                throw MasterException(err.str());

   489

            }

   490

            *(uint16_t *) data.data = cputole16(uval);

   491

            break;

   492

        case 0x0007: // uint32

   493

            strValue >> uval;

   494

            *(uint32_t *) data.data = cputole32(uval);

   495

            break;

   496

        case 0x0009: // string