tool/CommandConfig.cpp
author Martin Troxler <ch1010277@ch10pc446>
Mon, 22 Nov 2010 08:50:34 +0100
changeset 1999 5f1269a71588
parent 1918 c58633eed20b
child 1966 23c638a81fe7
permissions -rw-r--r--
use app_start_time for initial DC offset calculation because app_time might be overwritten while calculating the offsets.
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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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 *  vim: expandtab
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 *
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 ****************************************************************************/
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#include <list>
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#include <iostream>
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#include <iomanip>
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#include <sstream>
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using namespace std;
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#include "CommandConfig.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandConfig::CommandConfig():
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    Command("config", "Show slave configurations.")
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{
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}
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/*****************************************************************************/
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string CommandConfig::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS]" << endl
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        << endl
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        << getBriefDescription() << endl
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        << endl
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        << "Without the --verbose option, slave configurations are" << endl
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        << "output one-per-line. Example:" << endl
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        << endl
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        << "1001:0  0x0000003b/0x02010000  3  OP" << endl
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        << "|       |                      |  |" << endl
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        << "|       |                      |  \\- Application-layer" << endl
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        << "|       |                      |     state of the attached" << endl
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        << "|       |                      |     slave, or '-', if no" << endl
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        << "|       |                      |     slave is attached." << endl
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        << "|       |                      \\- Absolute decimal ring" << endl
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        << "|       |                         position of the attached" << endl
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        << "|       |                         slave, or '-' if none" << endl
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        << "|       |                         attached." << endl
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        << "|       \\- Expected vendor ID and product code (both" << endl
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        << "|          hexadecimal)." << endl
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        << "\\- Alias address and relative position (both decimal)." << endl
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        << endl
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        << "With the --verbose option given, the configured PDOs and" << endl
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        << "SDOs are output in addition." << endl
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        << endl
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        << "Configuration selection:" << endl
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        << "  Slave configurations can be selected with" << endl
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        << "  the --alias and --position parameters as follows:" << endl
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        << endl
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        << "  1) If neither the --alias nor the --position option" << endl
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        << "     is given, all slave configurations are displayed." << endl
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        << "  2) If only the --position option is given, an alias" << endl
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        << "     of zero is assumed (see 4))." << endl
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        << "  3) If only the --alias option is given, all slave" << endl
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        << "     configurations with the given alias address" << endl
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        << "     are displayed." << endl
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        << "  4) If both the --alias and the --position option are" << endl
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        << "     given, the selection can match a single" << endl
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        << "     configuration, that is displayed, if it exists." << endl
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        << endl
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        << "Command-specific options:" << endl
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        << "  --alias    -a <alias>  Configuration alias (see above)." << endl
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        << "  --position -p <pos>    Relative position (see above)." << endl
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        << "  --verbose  -v          Show detailed configurations." << endl
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        << endl
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        << numericInfo();
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    return str.str();
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}
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/*****************************************************************************/
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/** Lists the bus configuration.
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 */
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void CommandConfig::execute(const StringVector &args)
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{
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    MasterIndexList masterIndices;
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    bool doIndent;
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    ConfigList configs;
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    if (args.size()) {
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        stringstream err;
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        err << "'" << getName() << "' takes no arguments!";
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        throwInvalidUsageException(err);
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    }
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    masterIndices = getMasterIndices();
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    doIndent = masterIndices.size() > 1;
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    MasterIndexList::const_iterator mi;
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    for (mi = masterIndices.begin();
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            mi != masterIndices.end(); mi++) {
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        MasterDevice m(*mi);
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        m.open(MasterDevice::Read);
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        configs = selectedConfigs(m);
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        if (configs.size() && doIndent) {
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            cout << "Master" << dec << m.getIndex() << endl;
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        }
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        if (getVerbosity() == Verbose) {
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            showDetailedConfigs(m, configs, doIndent);
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        } else {
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            listConfigs(m, configs, doIndent);
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        }
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    }
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}
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/*****************************************************************************/
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/** Lists the complete bus configuration.
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 */
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void CommandConfig::showDetailedConfigs(
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        MasterDevice &m,
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        const ConfigList &configList,
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        bool doIndent
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        )
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{
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    ConfigList::const_iterator configIter;
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    unsigned int i, j, k, l;
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    ec_ioctl_slave_t slave;
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    ec_ioctl_config_pdo_t pdo;
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    ec_ioctl_config_pdo_entry_t entry;
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    ec_ioctl_config_sdo_t sdo;
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   156
    string indent(doIndent ? "  " : "");
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    for (configIter = configList.begin();
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            configIter != configList.end();
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            configIter++) {
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        cout << indent
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            << "Alias: "
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            << dec << configIter->alias << endl << indent
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   165
            << "Position: " << configIter->position << endl << indent
1142
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            << "Vendor Id: 0x"
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            << hex << setfill('0')
1826
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   168
            << setw(8) << configIter->vendor_id << endl << indent
1142
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            << "Product code: 0x"
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            << setw(8) << configIter->product_code << endl << indent
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   171
            << "Attached slave: ";
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   172
        
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        if (configIter->slave_position != -1) {
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   174
            m.getSlave(&slave, configIter->slave_position);
1172
74ee632c3b5e Fixed attached slave position in 'ethercat config' -> decimal.
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   175
            cout << dec << configIter->slave_position
1148
1762296870bd Renamed state field to al_state.
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   176
                << " (" << alStateString(slave.al_state) << ")" << endl;
1147
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   177
        } else {
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            cout << "none" << endl;
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   179
        }
1142
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        cout << indent << "Watchdog divider: ";
1518
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   182
        if (configIter->watchdog_divider) {
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            cout << dec << configIter->watchdog_divider;
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   184
        } else {
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75629ad02ca9 Minrt changes.
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            cout << "(Default)";
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   186
        }
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        cout << endl << indent
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            << "Watchdog intervals: ";
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   189
        if (configIter->watchdog_intervals) {
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   190
            cout << dec << configIter->watchdog_intervals;
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   191
        } else {
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75629ad02ca9 Minrt changes.
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   192
            cout << "(Default)";
1518
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   193
        }
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        cout << endl;
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   195
1142
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        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
59be91dfcbe1 Redesigned command interface.
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   197
            if (configIter->syncs[j].pdo_count) {
1826
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   198
                cout << indent << "SM" << dec << j << ", Dir: "
1142
59be91dfcbe1 Redesigned command interface.
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   199
                    << (configIter->syncs[j].dir == EC_DIR_INPUT
1518
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   200
                            ? "Input" : "Output") << ", Watchdog: ";
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   201
                switch (configIter->syncs[j].watchdog_mode) {
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                    case EC_WD_DEFAULT: cout << "Default"; break;
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   203
                    case EC_WD_ENABLE: cout << "Enable"; break;
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   204
                    case EC_WD_DISABLE: cout << "Disable"; break;
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   205
                    default: cout << "???"; break;
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   206
                }
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                cout << endl;
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   208
1142
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   209
                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
59be91dfcbe1 Redesigned command interface.
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                    m.getConfigPdo(&pdo, configIter->config_index, j, k);
59be91dfcbe1 Redesigned command interface.
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   211
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                    cout << indent << "  PDO 0x" << hex << setfill('0')
1467
013a4e42a9fb Minor fix in 'ethercat config' output.
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   213
                        << setw(4) << pdo.index << endl;
1142
59be91dfcbe1 Redesigned command interface.
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   214
59be91dfcbe1 Redesigned command interface.
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   215
                    for (l = 0; l < pdo.entry_count; l++) {
59be91dfcbe1 Redesigned command interface.
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                        m.getConfigPdoEntry(&entry,
59be91dfcbe1 Redesigned command interface.
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                                configIter->config_index, j, k, l);
59be91dfcbe1 Redesigned command interface.
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   218
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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   219
                        cout << indent << "    PDO entry 0x"
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   220
                            << hex << setfill('0')
1142
59be91dfcbe1 Redesigned command interface.
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diff changeset
   221
                            << setw(4) << entry.index << ":"
59be91dfcbe1 Redesigned command interface.
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   222
                            << setw(2) << (unsigned int) entry.subindex
1188
3b4e82d9904b Don't show Pdo (entry) names in configuration output.
Florian Pose <fp@igh-essen.com>
parents: 1172
diff changeset
   223
                            << ", " << dec << setfill(' ')
3b4e82d9904b Don't show Pdo (entry) names in configuration output.
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diff changeset
   224
                            << setw(2) << (unsigned int) entry.bit_length
3b4e82d9904b Don't show Pdo (entry) names in configuration output.
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diff changeset
   225
                            << " bit" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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   226
                    }
59be91dfcbe1 Redesigned command interface.
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   227
                }
59be91dfcbe1 Redesigned command interface.
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   228
            }
59be91dfcbe1 Redesigned command interface.
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   229
        }
59be91dfcbe1 Redesigned command interface.
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   230
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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   231
        cout << indent << "SDO configuration:" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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diff changeset
   232
        if (configIter->sdo_count) {
59be91dfcbe1 Redesigned command interface.
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diff changeset
   233
            for (j = 0; j < configIter->sdo_count; j++) {
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   234
                m.getConfigSdo(&sdo, configIter->config_index, j);
59be91dfcbe1 Redesigned command interface.
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diff changeset
   235
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   236
                cout << indent << "  0x"
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   237
                    << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   238
                    << setw(4) << sdo.index << ":"
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
                    << setw(2) << (unsigned int) sdo.subindex
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   240
                    << ", " << dec << sdo.size << " byte" << endl;
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   241
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   242
                cout << indent << "    " << hex;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   243
                for (i = 0; i < min((uint32_t) sdo.size,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   244
                            (uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   245
                    cout << setw(2) << (unsigned int) sdo.data[i];
66edd310830c Implemented CompleteAccess for SDO downloads.
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parents: 1519
diff changeset
   246
                    if ((i + 1) % 16 == 0 && i < sdo.size - 1) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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parents: 1804
diff changeset
   247
                        cout << endl << indent << "    ";
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   248
                    } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   249
                        cout << " ";
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   250
                    }
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   251
                }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   252
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   253
                cout << endl;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   254
                if (sdo.size > EC_MAX_SDO_DATA_SIZE) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   255
                    cout << indent << "    ..." << endl;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1519
diff changeset
   256
                }
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   257
            }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   258
        } else {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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diff changeset
   259
            cout << indent << "  None." << endl;
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   260
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   261
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   262
        if (configIter->dc_assign_activate) {
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   263
            int i;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   264
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   265
            cout << indent << "DC configuration:" << endl
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   266
                << indent << "  AssignActivate: 0x" << hex << setfill('0')
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   267
                << setw(4) << configIter->dc_assign_activate << endl;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   268
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   269
            cout << indent << "         Cycle [ns]   Shift [ns]" << endl;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   270
            for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   271
                cout << indent << "  SYNC" << dec << i << "  "
1456
bd1f69a429f3 Fixed output of 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   272
                    << setfill(' ') << right
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   273
                    << setw(11) << configIter->dc_sync[i].cycle_time
1456
bd1f69a429f3 Fixed output of 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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                    << "  "
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                    << setw(11) << configIter->dc_sync[i].shift_time
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                    << endl;
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            }
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        }
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        cout << endl;
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    }
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}
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/*****************************************************************************/
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/** Lists the bus configuration.
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 */
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void CommandConfig::listConfigs(
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        MasterDevice &m,
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        const ConfigList &configList,
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        bool doIndent
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        )
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{
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    ConfigList::const_iterator configIter;
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    stringstream str;
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    Info info;
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    typedef list<Info> InfoList;
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    InfoList list;
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    InfoList::const_iterator iter;
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    unsigned int maxAliasWidth = 0, maxPosWidth = 0,
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                 maxSlavePosWidth = 0, maxStateWidth = 0;
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    ec_ioctl_slave_t slave;
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    string indent(doIndent ? "  " : "");
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    for (configIter = configList.begin();
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            configIter != configList.end();
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            configIter++) {
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        str << dec << configIter->alias;
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        info.alias = str.str();
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        str.clear();
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        str.str("");
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        str << configIter->position;
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        info.pos = str.str();
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        str.clear();
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        str.str("");
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        str << hex << setfill('0')
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            << "0x" << setw(8) << configIter->vendor_id
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            << "/0x" << setw(8) << configIter->product_code;
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        info.ident = str.str();
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        str.clear();
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        str.str("");
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        if (configIter->slave_position != -1) {
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            m.getSlave(&slave, configIter->slave_position);
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            str << dec << configIter->slave_position;
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            info.slavePos = str.str();
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            str.clear();
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            str.str("");
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            info.state = alStateString(slave.al_state);
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        } else {
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            str << "-";
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            info.slavePos = str.str();
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            str.clear();
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            str.str("");
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            str << "-";
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            info.state = str.str();
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            str.clear();
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            str.str("");
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        }
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        list.push_back(info);
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        if (info.alias.length() > maxAliasWidth)
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            maxAliasWidth = info.alias.length();
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        if (info.pos.length() > maxPosWidth)
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            maxPosWidth = info.pos.length();
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        if (info.slavePos.length() > maxSlavePosWidth)
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            maxSlavePosWidth = info.slavePos.length();
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        if (info.state.length() > maxStateWidth)
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            maxStateWidth = info.state.length();
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    }
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    for (iter = list.begin(); iter != list.end(); iter++) {
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        cout << indent << setfill(' ') << right
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            << setw(maxAliasWidth) << iter->alias
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            << ":" << left
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            << setw(maxPosWidth) << iter->pos
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            << "  "
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            << iter->ident
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            << "  "
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            << setw(maxSlavePosWidth) << iter->slavePos << "  "
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            << setw(maxStateWidth) << iter->state << "  "
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            << endl;
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    }
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}
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/*****************************************************************************/