author | Dave Page <dave.page@gleeble.com> |
Mon, 06 Apr 2015 14:58:19 -0400 | |
changeset 2613 | 7208f4341104 |
parent 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
|
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* $Id$ |
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4 |
* |
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5 |
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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6 |
* |
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7 |
* This file is part of the IgH EtherCAT Master. |
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8 |
* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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10 |
* modify it under the terms of the GNU General Public License version 2, as |
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11 |
* published by the Free Software Foundation. |
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12 |
* |
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13 |
* 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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15 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 |
* Public License for more details. |
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17 |
* |
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18 |
* You should have received a copy of the GNU General Public License along |
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19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
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20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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22 |
* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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25 |
* EtherCAT technology and brand is only permitted in compliance with the |
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26 |
* industrial property and similar rights of Beckhoff Automation GmbH. |
1142 | 27 |
* |
1880 | 28 |
* vim: expandtab |
29 |
* |
|
1142 | 30 |
****************************************************************************/ |
31 |
||
32 |
#include <list> |
|
33 |
#include <iostream> |
|
34 |
#include <iomanip> |
|
35 |
#include <sstream> |
|
36 |
using namespace std; |
|
37 |
||
38 |
#include "CommandConfig.h" |
|
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39 |
#include "MasterDevice.h" |
1142 | 40 |
|
41 |
/*****************************************************************************/ |
|
42 |
||
43 |
CommandConfig::CommandConfig(): |
|
44 |
Command("config", "Show slave configurations.") |
|
45 |
{ |
|
46 |
} |
|
47 |
||
48 |
/*****************************************************************************/ |
|
49 |
||
1968
4f682084c643
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50 |
string CommandConfig::helpString(const string &binaryBaseName) const |
1142 | 51 |
{ |
52 |
stringstream str; |
|
53 |
||
1968
4f682084c643
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54 |
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl |
1804 | 55 |
<< endl |
56 |
<< getBriefDescription() << endl |
|
57 |
<< endl |
|
58 |
<< "Without the --verbose option, slave configurations are" << endl |
|
59 |
<< "output one-per-line. Example:" << endl |
|
60 |
<< endl |
|
61 |
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl |
|
62 |
<< "| | | |" << endl |
|
63 |
<< "| | | \\- Application-layer" << endl |
|
64 |
<< "| | | state of the attached" << endl |
|
65 |
<< "| | | slave, or '-', if no" << endl |
|
66 |
<< "| | | slave is attached." << endl |
|
67 |
<< "| | \\- Absolute decimal ring" << endl |
|
68 |
<< "| | position of the attached" << endl |
|
69 |
<< "| | slave, or '-' if none" << endl |
|
70 |
<< "| | attached." << endl |
|
71 |
<< "| \\- Expected vendor ID and product code (both" << endl |
|
72 |
<< "| hexadecimal)." << endl |
|
73 |
<< "\\- Alias address and relative position (both decimal)." << endl |
|
74 |
<< endl |
|
75 |
<< "With the --verbose option given, the configured PDOs and" << endl |
|
76 |
<< "SDOs are output in addition." << endl |
|
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77 |
<< endl |
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78 |
<< "Configuration selection:" << endl |
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79 |
<< " Slave configurations can be selected with" << endl |
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80 |
<< " the --alias and --position parameters as follows:" << endl |
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81 |
<< endl |
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82 |
<< " 1) If neither the --alias nor the --position option" << endl |
1167 | 83 |
<< " is given, all slave configurations are displayed." << endl |
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84 |
<< " 2) If only the --position option is given, an alias" << endl |
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|
85 |
<< " of zero is assumed (see 4))." << endl |
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86 |
<< " 3) If only the --alias option is given, all slave" << endl |
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|
87 |
<< " configurations with the given alias address" << endl |
1167 | 88 |
<< " are displayed." << endl |
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89 |
<< " 4) If both the --alias and the --position option are" << endl |
1167 | 90 |
<< " given, the selection can match a single" << endl |
91 |
<< " configuration, that is displayed, if it exists." << endl |
|
1804 | 92 |
<< endl |
93 |
<< "Command-specific options:" << endl |
|
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94 |
<< " --alias -a <alias> Configuration alias (see above)." << endl |
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95 |
<< " --position -p <pos> Relative position (see above)." << endl |
1804 | 96 |
<< " --verbose -v Show detailed configurations." << endl |
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97 |
<< endl |
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98 |
<< numericInfo(); |
1142 | 99 |
|
1804 | 100 |
return str.str(); |
1142 | 101 |
} |
102 |
||
103 |
/*****************************************************************************/ |
|
104 |
||
105 |
/** Lists the bus configuration. |
|
106 |
*/ |
|
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107 |
void CommandConfig::execute(const StringVector &args) |
1142 | 108 |
{ |
1880 | 109 |
MasterIndexList masterIndices; |
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110 |
bool doIndent; |
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111 |
ConfigList configs; |
1142 | 112 |
|
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113 |
if (args.size()) { |
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114 |
stringstream err; |
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115 |
err << "'" << getName() << "' takes no arguments!"; |
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116 |
throwInvalidUsageException(err); |
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117 |
} |
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118 |
|
1880 | 119 |
masterIndices = getMasterIndices(); |
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120 |
doIndent = masterIndices.size() > 1; |
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121 |
MasterIndexList::const_iterator mi; |
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122 |
for (mi = masterIndices.begin(); |
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123 |
mi != masterIndices.end(); mi++) { |
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124 |
MasterDevice m(*mi); |
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125 |
m.open(MasterDevice::Read); |
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126 |
configs = selectedConfigs(m); |
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127 |
|
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128 |
if (configs.size() && doIndent) { |
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129 |
cout << "Master" << dec << m.getIndex() << endl; |
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130 |
} |
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131 |
|
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132 |
if (getVerbosity() == Verbose) { |
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133 |
showDetailedConfigs(m, configs, doIndent); |
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134 |
} else { |
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135 |
listConfigs(m, configs, doIndent); |
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136 |
} |
1142 | 137 |
} |
138 |
} |
|
139 |
||
140 |
/*****************************************************************************/ |
|
141 |
||
142 |
/** Lists the complete bus configuration. |
|
143 |
*/ |
|
144 |
void CommandConfig::showDetailedConfigs( |
|
1804 | 145 |
MasterDevice &m, |
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146 |
const ConfigList &configList, |
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|
147 |
bool doIndent |
1804 | 148 |
) |
1142 | 149 |
{ |
150 |
ConfigList::const_iterator configIter; |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
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1519
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|
151 |
unsigned int i, j, k, l; |
1147
0eac1ee8512a
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|
152 |
ec_ioctl_slave_t slave; |
1142 | 153 |
ec_ioctl_config_pdo_t pdo; |
154 |
ec_ioctl_config_pdo_entry_t entry; |
|
155 |
ec_ioctl_config_sdo_t sdo; |
|
1966
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
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|
156 |
ec_ioctl_config_idn_t idn; |
1826
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|
157 |
string indent(doIndent ? " " : ""); |
1142 | 158 |
|
159 |
for (configIter = configList.begin(); |
|
160 |
configIter != configList.end(); |
|
161 |
configIter++) { |
|
162 |
||
1826
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|
163 |
cout << indent |
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1804
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|
164 |
<< "Alias: " |
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|
165 |
<< dec << configIter->alias << endl << indent |
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parents:
1804
diff
changeset
|
166 |
<< "Position: " << configIter->position << endl << indent |
1142 | 167 |
<< "Vendor Id: 0x" |
168 |
<< hex << setfill('0') |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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parents:
1804
diff
changeset
|
169 |
<< setw(8) << configIter->vendor_id << endl << indent |
1142 | 170 |
<< "Product code: 0x" |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
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parents:
1804
diff
changeset
|
171 |
<< setw(8) << configIter->product_code << endl << indent |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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1144
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|
172 |
<< "Attached slave: "; |
2589
2b9c78543663
Reverted default branch to stable-1.5.
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parents:
1968
diff
changeset
|
173 |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
1144
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|
174 |
if (configIter->slave_position != -1) { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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1144
diff
changeset
|
175 |
m.getSlave(&slave, configIter->slave_position); |
1172
74ee632c3b5e
Fixed attached slave position in 'ethercat config' -> decimal.
Florian Pose <fp@igh-essen.com>
parents:
1167
diff
changeset
|
176 |
cout << dec << configIter->slave_position |
1148
1762296870bd
Renamed state field to al_state.
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parents:
1147
diff
changeset
|
177 |
<< " (" << alStateString(slave.al_state) << ")" << endl; |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
1144
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changeset
|
178 |
} else { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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|
179 |
cout << "none" << endl; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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|
180 |
} |
1142 | 181 |
|
1826
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Multi-master support for command-line tool. The --master option supports
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parents:
1804
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changeset
|
182 |
cout << indent << "Watchdog divider: "; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
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parents:
1467
diff
changeset
|
183 |
if (configIter->watchdog_divider) { |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
184 |
cout << dec << configIter->watchdog_divider; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
185 |
} else { |
1519 | 186 |
cout << "(Default)"; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
187 |
} |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
188 |
cout << endl << indent |
1519 | 189 |
<< "Watchdog intervals: "; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
190 |
if (configIter->watchdog_intervals) { |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
191 |
cout << dec << configIter->watchdog_intervals; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
192 |
} else { |
1519 | 193 |
cout << "(Default)"; |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
194 |
} |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
195 |
cout << endl; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
196 |
|
1142 | 197 |
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { |
198 |
if (configIter->syncs[j].pdo_count) { |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
199 |
cout << indent << "SM" << dec << j << ", Dir: " |
1142 | 200 |
<< (configIter->syncs[j].dir == EC_DIR_INPUT |
1518
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
201 |
? "Input" : "Output") << ", Watchdog: "; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
202 |
switch (configIter->syncs[j].watchdog_mode) { |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
203 |
case EC_WD_DEFAULT: cout << "Default"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
204 |
case EC_WD_ENABLE: cout << "Enable"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
205 |
case EC_WD_DISABLE: cout << "Disable"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
206 |
default: cout << "???"; break; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
207 |
} |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
208 |
cout << endl; |
ab5694a51826
Output watchdog configuration in ethercat config.
Florian Pose <fp@igh-essen.com>
parents:
1467
diff
changeset
|
209 |
|
1142 | 210 |
for (k = 0; k < configIter->syncs[j].pdo_count; k++) { |
211 |
m.getConfigPdo(&pdo, configIter->config_index, j, k); |
|
212 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
213 |
cout << indent << " PDO 0x" << hex << setfill('0') |
1467
013a4e42a9fb
Minor fix in 'ethercat config' output.
Florian Pose <fp@igh-essen.com>
parents:
1456
diff
changeset
|
214 |
<< setw(4) << pdo.index << endl; |
1142 | 215 |
|
216 |
for (l = 0; l < pdo.entry_count; l++) { |
|
217 |
m.getConfigPdoEntry(&entry, |
|
218 |
configIter->config_index, j, k, l); |
|
219 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
220 |
cout << indent << " PDO entry 0x" |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
221 |
<< hex << setfill('0') |
1142 | 222 |
<< setw(4) << entry.index << ":" |
223 |
<< 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
|
224 |
<< ", " << dec << setfill(' ') |
3b4e82d9904b
Don't show Pdo (entry) names in configuration output.
Florian Pose <fp@igh-essen.com>
parents:
1172
diff
changeset
|
225 |
<< setw(2) << (unsigned int) entry.bit_length |
3b4e82d9904b
Don't show Pdo (entry) names in configuration output.
Florian Pose <fp@igh-essen.com>
parents:
1172
diff
changeset
|
226 |
<< " bit" << endl; |
1142 | 227 |
} |
228 |
} |
|
229 |
} |
|
230 |
} |
|
231 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
232 |
cout << indent << "SDO configuration:" << endl; |
1142 | 233 |
if (configIter->sdo_count) { |
234 |
for (j = 0; j < configIter->sdo_count; j++) { |
|
235 |
m.getConfigSdo(&sdo, configIter->config_index, j); |
|
236 |
||
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
237 |
cout << indent << " 0x" |
1142 | 238 |
<< hex << setfill('0') |
2589
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
239 |
<< setw(4) << sdo.index; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
240 |
if (sdo.complete_access) { |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
241 |
cout << " C"; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
242 |
} |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
243 |
else { |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
244 |
cout << ":" << setw(2) << (unsigned int) sdo.subindex; |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
245 |
} |
2b9c78543663
Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
1968
diff
changeset
|
246 |
cout << ", " << dec << sdo.size << " byte" << endl; |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
247 |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
248 |
cout << indent << " " << hex; |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
249 |
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
|
250 |
(uint32_t) EC_MAX_SDO_DATA_SIZE); i++) { |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
251 |
cout << setw(2) << (unsigned int) sdo.data[i]; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
252 |
if ((i + 1) % 16 == 0 && i < sdo.size - 1) { |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
253 |
cout << endl << indent << " "; |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
254 |
} else { |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
255 |
cout << " "; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
256 |
} |
1142 | 257 |
} |
258 |
||
259 |
cout << endl; |
|
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
260 |
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
|
261 |
cout << indent << " ..." << endl; |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1519
diff
changeset
|
262 |
} |
1142 | 263 |
} |
264 |
} else { |
|
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 << " None." << endl; |
1142 | 266 |
} |
267 |
||
1966
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
268 |
cout << indent << "IDN configuration:" << endl; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
269 |
if (configIter->idn_count) { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
270 |
for (j = 0; j < configIter->idn_count; j++) { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
271 |
m.getConfigIdn(&idn, configIter->config_index, j); |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
272 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
273 |
cout << indent << " Drive " << (unsigned int) idn.drive_no |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
274 |
<< ", " << outputIdn(idn.idn) |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
275 |
<< ", " << dec << idn.size << " byte" << endl; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
276 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
277 |
cout << indent << " " << hex << setfill('0'); |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
278 |
for (i = 0; i < min((uint32_t) idn.size, |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
279 |
(uint32_t) EC_MAX_IDN_DATA_SIZE); i++) { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
280 |
cout << setw(2) << (unsigned int) idn.data[i]; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
281 |
if ((i + 1) % 16 == 0 && i < idn.size - 1) { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
282 |
cout << endl << indent << " "; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
283 |
} else { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
284 |
cout << " "; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
285 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
286 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
287 |
|
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
288 |
cout << endl; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
289 |
if (idn.size > EC_MAX_IDN_DATA_SIZE) { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
290 |
cout << indent << " ..." << endl; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
291 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
292 |
} |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
293 |
} else { |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
294 |
cout << indent << " None." << endl; |
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
Florian Pose <fp@igh-essen.com>
parents:
1918
diff
changeset
|
295 |
} |
1455
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
296 |
if (configIter->dc_assign_activate) { |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
297 |
int i; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
298 |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
299 |
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
|
300 |
<< indent << " AssignActivate: 0x" << hex << setfill('0') |
1455
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
301 |
<< setw(4) << configIter->dc_assign_activate << endl; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
302 |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
303 |
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
|
304 |
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
|
305 |
cout << indent << " SYNC" << dec << i << " " |
1456
bd1f69a429f3
Fixed output of 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1455
diff
changeset
|
306 |
<< setfill(' ') << right |
1455
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
307 |
<< setw(11) << configIter->dc_sync[i].cycle_time |
1456
bd1f69a429f3
Fixed output of 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1455
diff
changeset
|
308 |
<< " " |
1455
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
309 |
<< setw(11) << configIter->dc_sync[i].shift_time |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
310 |
<< endl; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
311 |
} |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
312 |
} |
1142 | 313 |
cout << endl; |
314 |
} |
|
315 |
} |
|
316 |
||
317 |
/*****************************************************************************/ |
|
318 |
||
319 |
/** Lists the bus configuration. |
|
320 |
*/ |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
321 |
void CommandConfig::listConfigs( |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
322 |
MasterDevice &m, |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
323 |
const ConfigList &configList, |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
324 |
bool doIndent |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
325 |
) |
1142 | 326 |
{ |
327 |
ConfigList::const_iterator configIter; |
|
328 |
stringstream str; |
|
329 |
Info info; |
|
330 |
typedef list<Info> InfoList; |
|
331 |
InfoList list; |
|
332 |
InfoList::const_iterator iter; |
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333 |
unsigned int maxAliasWidth = 0, maxPosWidth = 0, |
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Show attached slave position and state in 'ethercat config'.
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parents:
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diff
changeset
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334 |
maxSlavePosWidth = 0, maxStateWidth = 0; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
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diff
changeset
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335 |
ec_ioctl_slave_t slave; |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
336 |
string indent(doIndent ? " " : ""); |
1142 | 337 |
|
338 |
for (configIter = configList.begin(); |
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339 |
configIter != configList.end(); |
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340 |
configIter++) { |
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341 |
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342 |
str << dec << configIter->alias; |
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info.alias = str.str(); |
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344 |
str.clear(); |
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345 |
str.str(""); |
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346 |
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347 |
str << configIter->position; |
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348 |
info.pos = str.str(); |
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349 |
str.clear(); |
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350 |
str.str(""); |
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351 |
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352 |
str << hex << setfill('0') |
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353 |
<< "0x" << setw(8) << configIter->vendor_id |
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354 |
<< "/0x" << setw(8) << configIter->product_code; |
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355 |
info.ident = str.str(); |
|
356 |
str.clear(); |
|
357 |
str.str(""); |
|
358 |
||
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
359 |
if (configIter->slave_position != -1) { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
360 |
m.getSlave(&slave, configIter->slave_position); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
361 |
|
1172
74ee632c3b5e
Fixed attached slave position in 'ethercat config' -> decimal.
Florian Pose <fp@igh-essen.com>
parents:
1167
diff
changeset
|
362 |
str << dec << configIter->slave_position; |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
363 |
info.slavePos = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
364 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
365 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
366 |
|
1918
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
367 |
info.state = alStateString(slave.al_state); |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
368 |
} else { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
369 |
str << "-"; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
370 |
info.slavePos = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
371 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
372 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
373 |
|
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
374 |
str << "-"; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
375 |
info.state = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
376 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
377 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
378 |
} |
1142 | 379 |
|
380 |
list.push_back(info); |
|
381 |
||
382 |
if (info.alias.length() > maxAliasWidth) |
|
383 |
maxAliasWidth = info.alias.length(); |
|
384 |
if (info.pos.length() > maxPosWidth) |
|
385 |
maxPosWidth = info.pos.length(); |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
386 |
if (info.slavePos.length() > maxSlavePosWidth) |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
387 |
maxSlavePosWidth = info.slavePos.length(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
388 |
if (info.state.length() > maxStateWidth) |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
389 |
maxStateWidth = info.state.length(); |
1142 | 390 |
} |
391 |
||
392 |
for (iter = list.begin(); iter != list.end(); iter++) { |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
|
393 |
cout << indent << setfill(' ') << right |
1142 | 394 |
<< setw(maxAliasWidth) << iter->alias |
395 |
<< ":" << left |
|
396 |
<< setw(maxPosWidth) << iter->pos |
|
397 |
<< " " |
|
398 |
<< iter->ident |
|
399 |
<< " " |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
400 |
<< setw(maxSlavePosWidth) << iter->slavePos << " " |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
401 |
<< setw(maxStateWidth) << iter->state << " " |
1142 | 402 |
<< endl; |
403 |
} |
|
404 |
} |
|
405 |
||
406 |
/*****************************************************************************/ |