tool/CommandSiiRead.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 04 May 2009 13:49:56 +0000
changeset 1439 5ab3c3b2d0d2
parent 1373 e651000f1ff1
child 1804 742607c464c4
permissions -rw-r--r--
Added m4 directory.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 ****************************************************************************/
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "CommandSiiRead.h"
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/*****************************************************************************/
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CommandSiiRead::CommandSiiRead():
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    Command("sii_read", "Output a slave's SII contents.")
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{
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}
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/*****************************************************************************/
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string CommandSiiRead::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS]" << endl
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    	<< endl
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    	<< getBriefDescription() << endl
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    	<< endl
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        << "This command requires a single slave to be selected." << endl
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    	<< endl
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    	<< "Without the --verbose option, binary SII contents are" << endl
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		<< "output." << endl
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    	<< endl
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    	<< "With the --verbose option given, a textual representation" << endl
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		<< "of the data is output, that is separated by SII category" << endl
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		<< "names." << endl
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    	<< endl
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    	<< "Command-specific options:" << endl
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        << "  --alias    -a <alias>" << endl
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        << "  --position -p <pos>    Slave selection. See the help of" << endl
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        << "                         the 'slaves' command." << endl
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    	<< "  --verbose  -v          Output textual data with" << endl
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		<< "                         category names." << endl
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    	<< endl
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		<< numericInfo();
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	return str.str();
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}
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/****************************************************************************/
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void CommandSiiRead::execute(MasterDevice &m, const StringVector &args)
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{
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    SlaveList slaves;
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    ec_ioctl_slave_t *slave;
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    ec_ioctl_slave_sii_t data;
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    unsigned int i;
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    const uint16_t *categoryHeader;
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    uint16_t categoryType, categorySize;
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    stringstream err;
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    if (args.size()) {
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        err << "'" << getName() << "' takes no arguments!";
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        throwInvalidUsageException(err);
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    }
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    m.open(MasterDevice::Read);
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    slaves = selectedSlaves(m);
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    if (slaves.size() != 1) {
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        throwSingleSlaveRequired(slaves.size());
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    }
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    slave = &slaves.front();
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    data.slave_position = slave->position;
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    if (!slave->sii_nwords)
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        return;
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    data.offset = 0;
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    data.nwords = slave->sii_nwords;
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    data.words = new uint16_t[data.nwords];
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	try {
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		m.readSii(&data);
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	} catch (MasterDeviceException &e) {
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        delete [] data.words;
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		throw e;
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	}
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    if (getVerbosity() == Verbose) {
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        cout << "SII Area:" << hex << setfill('0');
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        for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {
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            if (i % BreakAfterBytes) {
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                cout << " ";
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            } else {
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                cout << endl << "  ";
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            }
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            cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i);
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        }
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        cout << endl;
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        if (data.nwords > 0x0040U) {
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            // cycle through categories
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            categoryHeader = data.words + 0x0040U;
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            categoryType = le16_to_cpup(categoryHeader);
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            while (categoryType != 0xffff) {
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                cout << "SII Category 0x" << hex
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                    << setw(4) << categoryType
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                    << " (" << getCategoryName(categoryType) << ")" << flush;
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                if (categoryHeader + 1 > data.words + data.nwords) {
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                    err << "SII data seem to be corrupted!";
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                    throwCommandException(err);
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                }
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                categorySize = le16_to_cpup(categoryHeader + 1);
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                cout << ", " << dec << categorySize << " words" << flush;
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                if (categoryHeader + 2 + categorySize
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                        > data.words + data.nwords) {
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                    err << "SII data seem to be corrupted!";
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                    throwCommandException(err);
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                }
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                cout << hex;
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                for (i = 0; i < categorySize * 2U; i++) {
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                    if (i % BreakAfterBytes) {
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                        cout << " ";
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                    } else {
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                        cout << endl << "  ";
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                    }
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                    cout << setw(2) << (unsigned int)
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                        *((uint8_t *) (categoryHeader + 2) + i);
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                }
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                cout << endl;
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                if (categoryHeader + 2 + categorySize + 1
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                        > data.words + data.nwords) {
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                    err << "SII data seem to be corrupted!"; 
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                    throwCommandException(err);
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                }
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                categoryHeader += 2 + categorySize;
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
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                categoryType = le16_to_cpup(categoryHeader);
1142
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            }
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        }
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    } else {
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        for (i = 0; i < data.nwords; i++) {
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            uint16_t *w = data.words + i;
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            cout << *(uint8_t *) w << *((uint8_t *) w + 1);
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        }
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    }
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    delete [] data.words;
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}
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/****************************************************************************/
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const CommandSiiRead::CategoryName CommandSiiRead::categoryNames[] = {
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    {0x000a, "STRINGS"},
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    {0x0014, "DataTypes"},
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    {0x001e, "General"},
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    {0x0028, "FMMU"},
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    {0x0029, "SyncM"},
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    {0x0032, "TXPDO"},
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    {0x0033, "RXPDO"},
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    {0x003c, "DC"},
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    {}
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};
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/****************************************************************************/
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const char *CommandSiiRead::getCategoryName(uint16_t type)
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{
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    const CategoryName *cn = categoryNames;
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    while (cn->type) {
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        if (cn->type == type) {
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            return cn->name;
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        }
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        cn++;
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    }
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    return "unknown";
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}
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/*****************************************************************************/