| author | Florian Pose <fp@igh-essen.com> |
| Fri, 19 Jun 2009 11:46:53 +0000 | |
| branch | stable-1.4 |
| changeset 1699 | 89ba41136b21 |
| parent 1686 | e206f4485f60 |
| child 1363 | 11c0b2caa253 |
| permissions | -rw-r--r-- |
| 1142 | 1 |
/***************************************************************************** |
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* |
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* $Id$ |
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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 "CommandSdos.h" |
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/*****************************************************************************/ |
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CommandSdos::CommandSdos(): |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
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SdoCommand("sdos", "List SDO dictionaries.")
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{
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} |
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/*****************************************************************************/ |
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string CommandSdos::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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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<< "SDO dictionary information is displayed in two layers," << endl |
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<< "which are indented accordingly:" << endl |
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<< endl |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
33 |
<< "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl |
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<< endl |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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<< " SDO 0x1018, \"Identity object\"" << endl |
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<< endl |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl |
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<< " hexadecimal) followed by the data type, the length in" << endl |
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<< " bit, and the description. Example:" << endl |
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<< endl |
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<< " 0x1018:01, uint32, 32 bit, \"Vendor id\"" << endl |
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<< endl |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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<< "If the --quiet option is given, only the SDOs are output." |
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<< endl << endl |
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<< "Command-specific options:" << endl |
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1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
|
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<< " --alias -a <alias>" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
|
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
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<< " the 'slaves' command." << endl |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
49 |
<< " --quiet -q Only output SDOs (without the" << endl |
|
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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<< " SDO entries)." << 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 CommandSdos::execute(MasterDevice &m, const StringVector &args) |
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{
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SlaveList slaves; |
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SlaveList::const_iterator si; |
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bool showHeader; |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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showHeader = slaves.size() > 1; |
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for (si = slaves.begin(); si != slaves.end(); si++) {
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listSlaveSdos(m, *si, showHeader); |
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} |
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} |
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/****************************************************************************/ |
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void CommandSdos::listSlaveSdos( |
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MasterDevice &m, |
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const ec_ioctl_slave_t &slave, |
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bool showHeader |
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) |
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{
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ec_ioctl_slave_sdo_t sdo; |
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ec_ioctl_slave_sdo_entry_t entry; |
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unsigned int i, j; |
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1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1157
diff
changeset
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const DataType *d; |
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if (showHeader) |
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cout << "=== Slave " << slave.position << " ===" << endl; |
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for (i = 0; i < slave.sdo_count; i++) {
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m.getSdo(&sdo, slave.position, i); |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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cout << "SDO 0x" |
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<< hex << setfill('0')
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<< setw(4) << sdo.sdo_index |
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<< ", \"" << sdo.name << "\"" << endl; |
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if (getVerbosity() == Quiet) |
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continue; |
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for (j = 0; j <= sdo.max_subindex; j++) {
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m.getSdoEntry(&entry, slave.position, -i, j); |
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cout << " 0x" << hex << setfill('0')
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<< setw(4) << sdo.sdo_index << ":" |
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<< setw(2) << (unsigned int) entry.sdo_entry_subindex |
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<< ", "; |
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if ((d = findDataType(entry.data_type))) {
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cout << d->name; |
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} else {
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cout << "type " << setw(4) << entry.data_type; |
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} |
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cout << ", " << dec << entry.bit_length << " bit, \"" |
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<< entry.description << "\"" << endl; |
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} |
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} |
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} |
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/*****************************************************************************/ |