1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#include <iostream>

    31

#include <iomanip>

    32

using namespace std;

    33

    34

#include "CommandDomains.h"

    35

#include "MasterDevice.h"

    36

    37

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

    38

    39

CommandDomains::CommandDomains():

    40

    Command("domains", "Show configured domains.")

    41

{

    42

}

    43

    44

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

    45

    46

string CommandDomains::helpString(const string &binaryBaseName) const

    47

{

    48

    stringstream str;

    49

    50

    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl

    51

        << endl

    52

        << getBriefDescription() << endl

    53

        << endl

    54

        << "Without the --verbose option, the domains are displayed" << endl

    55

        << "one-per-line. Example:" << endl

    56

        << endl

    57

        << "Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 0/1"

    58

        << endl << endl

    59

        << "The domain's base address for the logical datagram" << endl

    60

        << "(LRD/LWR/LRW) is displayed followed by the domain's" << endl

    61

        << "process data size in byte. The last values are the current" << endl

    62

        << "datagram working counter sum and the expected working" << endl

    63

        << "counter sum. If the values are equal, all PDOs were" << endl

    64

        << "exchanged during the last cycle." << endl

    65

        << endl

    66

        << "If the --verbose option is given, the participating slave" << endl

    67

        << "configurations/FMMUs and the current process data are" << endl

    68

        << "additionally displayed:" << endl

    69

        << endl

    70

        << "Domain1: LogBaseAddr 0x00000006, Size   6, WorkingCounter 0/1"

    71

        << endl

    72

        << "  SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"

    73

        << endl

    74

        << "    00 00 00 00 00 00" << endl

    75

        << endl

    76

        << "The process data are displayed as hexadecimal bytes." << endl

    77

        << endl

    78

        << "Command-specific options:" << endl

    79

        << "  --domain  -d <index>  Positive numerical domain index." << endl

    80

        << "                        If ommitted, all domains are" << endl

    81

        << "                        displayed." << endl

    82

        << endl

    83

        << "  --verbose -v          Show FMMUs and process data" << endl

    84

        << "                        in addition." << endl

    85

        << endl

    86

        << numericInfo();

    87

    88

    return str.str();

    89

}

    90

    91

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

    92

    93

void CommandDomains::execute(const StringVector &args)

    94

{

    95

	MasterIndexList masterIndices;

    96

    bool doIndent;

    97

    DomainList domains;

    98

    DomainList::const_iterator di;

    99

   100

    if (args.size()) {

   101

        stringstream err;

   102

        err << "'" << getName() << "' takes no arguments!";

   103

        throwInvalidUsageException(err);

   104

    }

   105

   106

	masterIndices = getMasterIndices();

   107

    doIndent = masterIndices.size() > 1;

   108

    MasterIndexList::const_iterator mi;

   109

    for (mi = masterIndices.begin();

   110

            mi != masterIndices.end(); mi++) {

   111

        ec_ioctl_master_t io;

   112

        MasterDevice m(*mi);

   113

        m.open(MasterDevice::Read);

   114

        m.getMaster(&io);

   115

        domains = selectedDomains(m, io);

   116

   117

        if (domains.size() && doIndent) {

   118

            cout << "Master" << dec << *mi << endl;

   119

        }

   120

   121

        for (di = domains.begin(); di != domains.end(); di++) {

   122

            showDomain(m, io, *di, doIndent);

   123

        }

   124

    }

   125

}

   126

   127

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

   128

   129

void CommandDomains::showDomain(

   130

        MasterDevice &m,

   131

        const ec_ioctl_master_t &master,

   132

        const ec_ioctl_domain_t &domain,

   133

        bool doIndent

   134

        )

   135

{

   136

    unsigned char *processData;

   137

    ec_ioctl_domain_data_t data;

   138

    unsigned int i, j;

   139

    ec_ioctl_domain_fmmu_t fmmu;

   140

    unsigned int dataOffset;

   141

    string indent(doIndent ? "  " : "");

   142

    unsigned int wc_sum = 0, dev_idx;

   143

   144

    for (dev_idx = EC_DEVICE_MAIN; dev_idx < master.num_devices; dev_idx++) {

   145

        wc_sum += domain.working_counter[dev_idx];

   146

    }

   147

   148

    cout << indent << "Domain" << dec << domain.index << ":"

   149

        << " LogBaseAddr 0x"

   150

        << hex << setfill('0')

   151

        << setw(8) << domain.logical_base_address

   152

        << ", Size " << dec << setfill(' ')

   153

        << setw(3) << domain.data_size

   154

        << ", WorkingCounter "

   155

        << wc_sum << "/"

   156

        << domain.expected_working_counter;

   157

    if (master.num_devices > 1) {

   158

        cout << " (";

   159

        for (dev_idx = EC_DEVICE_MAIN; dev_idx < master.num_devices;

   160

                dev_idx++) {

   161

            cout << domain.working_counter[dev_idx];

   162

            if (dev_idx + 1 < master.num_devices) {

   163

                cout << "+";

   164

            }

   165

        }

   166

        cout << ")";

   167

    }

   168

    cout << endl;

   169

   170

    if (!domain.data_size || getVerbosity() != Verbose)

   171

        return;

   172

   173

    processData = new unsigned char[domain.data_size];

   174

   175

    try {

   176

        m.getData(&data, domain.index, domain.data_size, processData);

   177

    } catch (MasterDeviceException &e) {

   178

        delete [] processData;

   179

        throw e;

   180

    }

   181

   182

    for (i = 0; i < domain.fmmu_count; i++) {

   183

        m.getFmmu(&fmmu, domain.index, i);

   184

   185

        cout << indent << "  SlaveConfig "

   186

            << dec << fmmu.slave_config_alias

   187

            << ":" << fmmu.slave_config_position

   188

            << ", SM" << (unsigned int) fmmu.sync_index << " ("

   189

            << setfill(' ') << setw(6)

   190

            << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")

   191

            << "), LogAddr 0x"

   192

            << hex << setfill('0')

   193

            << setw(8) << fmmu.logical_address

   194

            << ", Size " << dec << fmmu.data_size << endl;

   195

   196

        dataOffset = fmmu.logical_address - domain.logical_base_address;

   197

        if (dataOffset + fmmu.data_size > domain.data_size) {

   198

            stringstream err;

   199

            delete [] processData;

   200

            err << "Fmmu information corrupted!";

   201

            throwCommandException(err);

   202

        }

   203

   204

        cout << indent << "    " << hex << setfill('0');

   205

        for (j = 0; j < fmmu.data_size; j++) {

   206

            if (j && !(j % BreakAfterBytes))

   207

                cout << endl << indent << "    ";

   208

            cout << setw(2)

   209

                << (unsigned int) *(processData + dataOffset + j) << " ";

   210

        }

   211

        cout << endl;

   212

    }

   213

   214

    delete [] processData;

   215

}

   216

   217

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