author | Florian Pose <fp@igh-essen.com> |
Wed, 08 Apr 2009 11:48:00 +0000 | |
changeset 1386 | 95ec1e9bcb53 |
parent 1373 | e651000f1ff1 |
child 1455 | aa18fcfe0fd1 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
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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. |
1142 | 27 |
* |
28 |
****************************************************************************/ |
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30 |
#include <list> |
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31 |
#include <iostream> |
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32 |
#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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/*****************************************************************************/ |
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CommandConfig::CommandConfig(): |
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41 |
Command("config", "Show slave configurations.") |
|
42 |
{ |
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43 |
} |
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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 |
1142 | 54 |
<< endl |
55 |
<< "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 |
1142 | 59 |
<< "| | | |" << 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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70 |
<< "\\- Alias address and relative position (both decimal)." << endl |
1142 | 71 |
<< 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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74 |
<< endl |
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75 |
<< "Configuration selection:" << endl |
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76 |
<< " Slave configurations can be selected with" << endl |
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77 |
<< " the --alias and --position parameters as follows:" << endl |
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78 |
<< endl |
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79 |
<< " 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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82 |
<< " of zero is assumed (see 4))." << endl |
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83 |
<< " 3) If only the --alias option is given, all slave" << endl |
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84 |
<< " configurations with the given alias address" << endl |
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<< " are displayed." << endl |
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86 |
<< " 4) If both the --alias and the --position option are" << endl |
1167 | 87 |
<< " given, the selection can match a single" << endl |
88 |
<< " configuration, that is displayed, if it exists." << endl |
|
1142 | 89 |
<< endl |
90 |
<< "Command-specific options:" << endl |
|
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91 |
<< " --alias -a <alias> Configuration alias (see above)." << endl |
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92 |
<< " --position -p <pos> Relative position (see above)." << endl |
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93 |
<< " --verbose -v Show detailed configurations." << endl |
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94 |
<< endl |
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95 |
<< numericInfo(); |
1142 | 96 |
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97 |
return str.str(); |
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98 |
} |
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100 |
/*****************************************************************************/ |
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101 |
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102 |
/** Lists the bus configuration. |
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*/ |
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void CommandConfig::execute(MasterDevice &m, const StringVector &args) |
|
105 |
{ |
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106 |
ConfigList configs; |
1142 | 107 |
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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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112 |
} |
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113 |
|
1142 | 114 |
m.open(MasterDevice::Read); |
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configs = selectedConfigs(m); |
1142 | 116 |
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117 |
if (getVerbosity() == Verbose) { |
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showDetailedConfigs(m, configs); |
1142 | 119 |
} else { |
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120 |
listConfigs(m, configs); |
1142 | 121 |
} |
122 |
} |
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123 |
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124 |
/*****************************************************************************/ |
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125 |
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126 |
/** Lists the complete bus configuration. |
|
127 |
*/ |
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128 |
void CommandConfig::showDetailedConfigs( |
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129 |
MasterDevice &m, |
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130 |
const ConfigList &configList |
|
131 |
) |
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132 |
{ |
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133 |
ConfigList::const_iterator configIter; |
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134 |
unsigned int j, k, l; |
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135 |
ec_ioctl_slave_t slave; |
1142 | 136 |
ec_ioctl_config_pdo_t pdo; |
137 |
ec_ioctl_config_pdo_entry_t entry; |
|
138 |
ec_ioctl_config_sdo_t sdo; |
|
139 |
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140 |
for (configIter = configList.begin(); |
|
141 |
configIter != configList.end(); |
|
142 |
configIter++) { |
|
143 |
||
144 |
cout << "Alias: " |
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145 |
<< dec << configIter->alias << endl |
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146 |
<< "Position: " << configIter->position << endl |
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147 |
<< "Vendor Id: 0x" |
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148 |
<< hex << setfill('0') |
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149 |
<< setw(8) << configIter->vendor_id << endl |
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150 |
<< "Product code: 0x" |
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151 |
<< setw(8) << configIter->product_code << endl |
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<< "Attached slave: "; |
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153 |
|
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154 |
if (configIter->slave_position != -1) { |
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155 |
m.getSlave(&slave, configIter->slave_position); |
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156 |
cout << dec << configIter->slave_position |
1148
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Renamed state field to al_state.
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157 |
<< " (" << alStateString(slave.al_state) << ")" << endl; |
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158 |
} else { |
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159 |
cout << "none" << endl; |
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160 |
} |
1142 | 161 |
|
162 |
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { |
|
163 |
if (configIter->syncs[j].pdo_count) { |
|
164 |
cout << "SM" << dec << j << " (" |
|
165 |
<< (configIter->syncs[j].dir == EC_DIR_INPUT |
|
166 |
? "Input" : "Output") << ")" << endl; |
|
167 |
for (k = 0; k < configIter->syncs[j].pdo_count; k++) { |
|
168 |
m.getConfigPdo(&pdo, configIter->config_index, j, k); |
|
169 |
||
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|
170 |
cout << " PDO 0x" << hex << setw(4) << pdo.index << endl; |
1142 | 171 |
|
172 |
for (l = 0; l < pdo.entry_count; l++) { |
|
173 |
m.getConfigPdoEntry(&entry, |
|
174 |
configIter->config_index, j, k, l); |
|
175 |
||
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|
176 |
cout << " PDO entry 0x" << hex << setfill('0') |
1142 | 177 |
<< setw(4) << entry.index << ":" |
178 |
<< setw(2) << (unsigned int) entry.subindex |
|
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179 |
<< ", " << dec << setfill(' ') |
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180 |
<< setw(2) << (unsigned int) entry.bit_length |
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181 |
<< " bit" << endl; |
1142 | 182 |
} |
183 |
} |
|
184 |
} |
|
185 |
} |
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186 |
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187 |
cout << "SDO configuration:" << endl; |
1142 | 188 |
if (configIter->sdo_count) { |
189 |
for (j = 0; j < configIter->sdo_count; j++) { |
|
190 |
m.getConfigSdo(&sdo, configIter->config_index, j); |
|
191 |
||
192 |
cout << " 0x" |
|
193 |
<< hex << setfill('0') |
|
194 |
<< setw(4) << sdo.index << ":" |
|
195 |
<< setw(2) << (unsigned int) sdo.subindex |
|
196 |
<< ", " << dec << sdo.size << " byte: " << hex; |
|
197 |
||
198 |
switch (sdo.size) { |
|
199 |
case 1: |
|
200 |
cout << "0x" << setw(2) |
|
201 |
<< (unsigned int) *(uint8_t *) &sdo.data; |
|
202 |
break; |
|
203 |
case 2: |
|
204 |
cout << "0x" << setw(4) |
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|
205 |
<< le16_to_cpup(&sdo.data); |
1142 | 206 |
break; |
207 |
case 4: |
|
208 |
cout << "0x" << setw(8) |
|
1254
c19d273a9e76
Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents:
1188
diff
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|
209 |
<< le32_to_cpup(&sdo.data); |
1142 | 210 |
break; |
211 |
default: |
|
212 |
cout << "???"; |
|
213 |
} |
|
214 |
||
215 |
cout << endl; |
|
216 |
} |
|
217 |
} else { |
|
218 |
cout << " None." << endl; |
|
219 |
} |
|
220 |
||
221 |
cout << endl; |
|
222 |
} |
|
223 |
} |
|
224 |
||
225 |
/*****************************************************************************/ |
|
226 |
||
227 |
/** Lists the bus configuration. |
|
228 |
*/ |
|
1147
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Show attached slave position and state in 'ethercat config'.
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|
229 |
void CommandConfig::listConfigs( |
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230 |
MasterDevice &m, |
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Show attached slave position and state in 'ethercat config'.
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parents:
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changeset
|
231 |
const ConfigList &configList |
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Show attached slave position and state in 'ethercat config'.
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232 |
) |
1142 | 233 |
{ |
234 |
ConfigList::const_iterator configIter; |
|
235 |
stringstream str; |
|
236 |
Info info; |
|
237 |
typedef list<Info> InfoList; |
|
238 |
InfoList list; |
|
239 |
InfoList::const_iterator iter; |
|
240 |
unsigned int maxAliasWidth = 0, maxPosWidth = 0, |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
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diff
changeset
|
241 |
maxSlavePosWidth = 0, maxStateWidth = 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
|
242 |
ec_ioctl_slave_t slave; |
1142 | 243 |
|
244 |
for (configIter = configList.begin(); |
|
245 |
configIter != configList.end(); |
|
246 |
configIter++) { |
|
247 |
||
248 |
str << dec << configIter->alias; |
|
249 |
info.alias = str.str(); |
|
250 |
str.clear(); |
|
251 |
str.str(""); |
|
252 |
||
253 |
str << configIter->position; |
|
254 |
info.pos = str.str(); |
|
255 |
str.clear(); |
|
256 |
str.str(""); |
|
257 |
||
258 |
str << hex << setfill('0') |
|
259 |
<< "0x" << setw(8) << configIter->vendor_id |
|
260 |
<< "/0x" << setw(8) << configIter->product_code; |
|
261 |
info.ident = str.str(); |
|
262 |
str.clear(); |
|
263 |
str.str(""); |
|
264 |
||
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
265 |
if (configIter->slave_position != -1) { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
1144
diff
changeset
|
266 |
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
|
267 |
|
1172
74ee632c3b5e
Fixed attached slave position in 'ethercat config' -> decimal.
Florian Pose <fp@igh-essen.com>
parents:
1167
diff
changeset
|
268 |
str << dec << configIter->slave_position; |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
1144
diff
changeset
|
269 |
info.slavePos = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
1144
diff
changeset
|
270 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
271 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
272 |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
273 |
str << alStateString(slave.al_state); |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
274 |
info.state = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
275 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
276 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
277 |
} else { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
278 |
str << "-"; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
279 |
info.slavePos = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
280 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
281 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
282 |
|
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
283 |
str << "-"; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
284 |
info.state = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
285 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
286 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
287 |
} |
1142 | 288 |
|
289 |
list.push_back(info); |
|
290 |
||
291 |
if (info.alias.length() > maxAliasWidth) |
|
292 |
maxAliasWidth = info.alias.length(); |
|
293 |
if (info.pos.length() > maxPosWidth) |
|
294 |
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
|
295 |
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
|
296 |
maxSlavePosWidth = info.slavePos.length(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
297 |
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
|
298 |
maxStateWidth = info.state.length(); |
1142 | 299 |
} |
300 |
||
301 |
for (iter = list.begin(); iter != list.end(); iter++) { |
|
302 |
cout << setfill(' ') << right |
|
303 |
<< setw(maxAliasWidth) << iter->alias |
|
304 |
<< ":" << left |
|
305 |
<< setw(maxPosWidth) << iter->pos |
|
306 |
<< " " |
|
307 |
<< iter->ident |
|
308 |
<< " " |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
309 |
<< setw(maxSlavePosWidth) << iter->slavePos << " " |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
310 |
<< setw(maxStateWidth) << iter->state << " " |
1142 | 311 |
<< endl; |
312 |
} |
|
313 |
} |
|
314 |
||
315 |
/*****************************************************************************/ |