etherlabmaster: tools/Master.cpp@9bf2ddf05e17 (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <sys/types.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	#include <sys/stat.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <fcntl.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <errno.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include <sys/ioctl.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	12
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include <iostream>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include <iomanip>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include <sstream>
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	16	#include <fstream>
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	17	#include <cctype> // toupper()
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	18	#include <list>
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	#include "Master.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	22
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	23	#define swap16(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	24	((uint16_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	25	(((uint16_t)(x) & 0x00ffU) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	26	(((uint16_t)(x) & 0xff00U) >> 8) ))
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	27	#define swap32(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	28	((uint32_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	29	(((uint32_t)(x) & 0x000000ffUL) << 24) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	30	(((uint32_t)(x) & 0x0000ff00UL) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	31	(((uint32_t)(x) & 0x00ff0000UL) >> 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	32	(((uint32_t)(x) & 0xff000000UL) >> 24) ))
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	33
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	34	#if __BYTE_ORDER == __LITTLE_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	35
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	36	#define le16tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	37	#define le32tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	38
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	39	#define cputole16(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	40	#define cputole32(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	41
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	42	#elif __BYTE_ORDER == __BIG_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	43
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	44	#define le16tocpu(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	45	#define le32tocpu(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	46
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	47	#define cputole16(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	48	#define cputole32(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	49
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	50	#endif
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	51
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	52	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	53
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	54	struct CoEDataType {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	55	const char *name;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	56	uint16_t coeCode;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	57	unsigned int byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	58	};
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	59
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	60	static const CoEDataType dataTypes[] = {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	61	{"int8", 0x0002, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	62	{"int16", 0x0003, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	63	{"int32", 0x0004, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	64	{"uint8", 0x0005, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	65	{"uint16", 0x0006, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	66	{"uint32", 0x0007, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	67	{"string", 0x0009, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	68	{"raw", 0xffff, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	69	{}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	70	};
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	71
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	72	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	73
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	74	const CoEDataType *findDataType(const string &str)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	75	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	76	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	77
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	78	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	79	if (str == d->name)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	80	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	81
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	82	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	83	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	84
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	85	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	86
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	87	const CoEDataType *findDataType(uint16_t code)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	88	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	89	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	90
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	91	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	92	if (code == d->coeCode)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	93	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	94
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	95	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	96	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	97
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	99
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	Master::Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	index = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	fd = -1;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	105
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	Master::~Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	close();
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	115	void Master::setIndex(unsigned int i)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	116	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	117	index = i;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	119
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	120	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	121
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	122	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	123	* Writes the Secondary slave address (alias) to the slave's SII.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	124	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	125	void Master::writeAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	126	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	127	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	128	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	129	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	130	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	131	ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	132	ec_ioctl_slave_t slave;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	133	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	134	uint16_t alias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	135	stringstream err, strAlias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	136	int number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	137
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	138	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	139	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	140	err << "'alias' takes exactly one argument!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	141	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	142	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	143
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	144	strAlias << commandArgs[0];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	145	strAlias >> hex >> number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	146	if (strAlias.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	147	err << "Invalid alias '" << commandArgs[0] << "'!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	148	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	149	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	150	alias = number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	151
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	152	if (slavePosition == -1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	153	unsigned int numSlaves, i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	154
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	155	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	156	err << "This will write the alias addresses of all slaves to 0x"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	157	<< hex << setfill('0') << setw(4) << alias << "! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	158	<< "Please specify --force to proceed.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	159	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	160	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	161
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	162	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	163	numSlaves = slaveCount();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	164
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	165	for (i = 0; i < numSlaves; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	166	writeSlaveAlias(i, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	167	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	168	} else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	169	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	170	writeSlaveAlias(slavePosition, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	171	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	172	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	173
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	174	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	175
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	176	/**
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	177	* Lists the bus configuration.
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	178	*/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	179	void Master::showConfig()
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	180	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	181	ec_ioctl_master_t master;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	182	unsigned int i, j, k, l;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	183	ec_ioctl_config_t config;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	184	ec_ioctl_config_pdo_t pdo;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	185	ec_ioctl_config_pdo_entry_t entry;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	186	ec_ioctl_config_sdo_t sdo;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	187
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	188	open(Read);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	189	getMaster(&master);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	190
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	191	for (i = 0; i < master.config_count; i++) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	192	getConfig(&config, i);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	193
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	194	cout << "Alias: 0x"
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	195	<< hex << setfill('0') << setw(4) << config.alias << endl
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	196	<< "Position: " << dec << config.position << endl
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	197	<< "Vendor Id: 0x"
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	198	<< hex << setw(8) << config.vendor_id << endl
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	199	<< "Product code: 0x"
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	200	<< hex << setw(8) << config.product_code << endl
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	201	<< "Attached: " << (config.attached ? "yes" : "no") << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	202
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	203	for (j = 0; j < 2; j++) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	204	if (config.pdo_count[j]) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	205	cout << (j ? "Input" : "Output")
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	206	<< " Pdo assignment / mapping " << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	207	for (k = 0; k < config.pdo_count[j]; k++) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	208	getConfigPdo(&pdo, i, j, k);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	209
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	210	cout << " Pdo 0x"
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	211	<< hex << setfill('0') << setw(4) << pdo.index
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	212	<< " \"" << pdo.name << "\"" << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	213
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	214	for (l = 0; l < pdo.entry_count; l++) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	215	getConfigPdoEntry(&entry, i, j, k, l);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	216
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	217	cout << " Pdo entry 0x"
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	218	<< hex << setfill('0') << setw(4) << entry.index
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	219	<< ":" << setw(2) << (unsigned int) entry.subindex
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	220	<< ", " << dec << (unsigned int) entry.bit_length
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	221	<< " bit, \"" << entry.name << "\"" << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	222	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	223	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	224	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	225	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	226
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	227	if (config.sdo_count) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	228	cout << "Sdo configuration:" << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	229	for (j = 0; j < config.sdo_count; j++) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	230	getConfigSdo(&sdo, i, j);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	231
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	232	cout << " 0x"
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	233	<< hex << setfill('0') << setw(4) << sdo.index
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	234	<< ":" << setw(2) << (unsigned int) sdo.subindex
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	235	<< ", " << sdo.size << " byte: " << hex;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	236
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	237	switch (sdo.size) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	238	case 1:
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	239	cout << "0x" << setw(2)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	240	<< (unsigned int) (uint8_t ) &sdo.data;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	241	break;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	242	case 2:
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	243	cout << "0x" << setw(4)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	244	<< le16tocpu((uint16_t ) &sdo.data);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	245	break;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	246	case 4:
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	247	cout << "0x" << setw(8)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	248	<< le32tocpu((uint32_t ) &sdo.data);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	249	break;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	250	default:
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	251	cout << "???";
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	252	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	253
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	254	cout << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	255	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	256	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	257
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	258	cout << endl;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	259	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	260	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	261
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	263
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	264	void Master::outputData(int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	265	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	266	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	267
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	268	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	269	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	270	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	271
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	272	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	273
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	274	for (i = 0; i < master.domain_count; i++) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	275	outputDomainData(i);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	276	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	277	} else {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	278	outputDomainData(domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	279	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	280	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	281
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	282	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	283
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	284	void Master::setDebug(const vector<string> &commandArgs)
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	285	{
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	286	stringstream str;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	287	int debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	288
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	289	if (commandArgs.size() != 1) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	290	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	291	err << "'debug' takes exactly one argument!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	292	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	293	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	294
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	295	str << commandArgs[0];
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	296	str >> debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	297
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	298	if (str.fail()) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	299	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	300	err << "Invalid debug level '" << commandArgs[0] << "'!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	301	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	302	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	303
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	304	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	305
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	306	if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	307	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	308	err << "Failed to set debug level: " << strerror(errno);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	309	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	310	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	311	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	312
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	313	/****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	314
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	315	void Master::showDomains(int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	316	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	317	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	318
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	319	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	320	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	321	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	322
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	323	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	324
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	325	for (i = 0; i < master.domain_count; i++) {
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	326	showDomain(i);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	327	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	328	} else {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	329	showDomain(domainIndex);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	330	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	331	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	332
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	333	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	334
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	335	struct SlaveInfo {
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	336	string pos;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	337	string alias;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	338	string relPos;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	339	string state;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	340	string flag;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	341	string name;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	342	};
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	343
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	void Master::listSlaves()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	346	unsigned int numSlaves, i;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	347	ec_ioctl_slave_t slave;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	uint16_t lastAlias, aliasIndex;
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	349	SlaveInfo slaveInfo;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	350	typedef list<SlaveInfo> SlaveInfoList;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	351	SlaveInfoList slaveInfoList;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	352	SlaveInfoList::const_iterator iter;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	353	stringstream str;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	354	unsigned int maxPosWidth = 0, maxAliasWidth = 0,
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	355	maxRelPosWidth = 0, maxStateWidth = 0;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	356
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	357	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	358
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	359	numSlaves = slaveCount();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	360
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	lastAlias = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	aliasIndex = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	for (i = 0; i < numSlaves; i++) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	364	getSlave(&slave, i);
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	365
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	366	str << dec << i;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	367	slaveInfo.pos = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	368	str.clear();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	369	str.str("");
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	370
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	371	if (slave.alias) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	372	lastAlias = slave.alias;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	aliasIndex = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	if (lastAlias) {
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	376	str << "#" << hex << lastAlias;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	377	slaveInfo.alias = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	378	str.str("");
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	379	str << ":" << dec << aliasIndex;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	380	slaveInfo.relPos = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	381	str.str("");
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	382	aliasIndex++;
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	383	} else {
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	384	slaveInfo.alias = "";
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	385	slaveInfo.relPos = "";
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	386	}
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	387
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	388	slaveInfo.state = slaveState(slave.state);
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	389	slaveInfo.flag = (slave.error_flag ? 'E' : '+');
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	390
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	391	if (strlen(slave.name)) {
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	392	slaveInfo.name = slave.name;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	} else {
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	394	str << hex << setfill('0')
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	395	<< setw(8) << slave.vendor_id << ":"
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	396	<< setw(8) << slave.product_code;
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	397	slaveInfo.name = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	398	str.str("");
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	399	}
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	400
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	401	slaveInfoList.push_back(slaveInfo);
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	402	if (slaveInfo.pos.length() > maxPosWidth)
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	403	maxPosWidth = slaveInfo.pos.length();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	404	if (slaveInfo.alias.length() > maxAliasWidth)
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	405	maxAliasWidth = slaveInfo.alias.length();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	406	if (slaveInfo.relPos.length() > maxRelPosWidth)
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	407	maxRelPosWidth = slaveInfo.relPos.length();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	408	if (slaveInfo.state.length() > maxStateWidth)
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	409	maxStateWidth = slaveInfo.state.length();
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	410	}
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	411
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	412	for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	413	cout << setfill(' ') << right
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	414	<< setw(maxPosWidth) << iter->pos << " "
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	415	<< setw(maxAliasWidth) << iter->alias
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	416	<< left
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	417	<< setw(maxRelPosWidth) << iter->relPos << " "
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	418	<< setw(maxStateWidth) << iter->state << " "
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	419	<< iter->flag << " "
a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	420	<< iter->name << endl;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	422	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	423
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	424	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	425
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	426	void Master::showMaster()
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	427	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	428	ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	429	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	430	unsigned int i;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	431
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	432	open(Read);
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	433	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	434
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	435	cout
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	436	<< "Master" << index << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	437	<< " State: ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	438
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	439	switch (data.mode) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	440	case 0: cout << "Waiting for device..."; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	441	case 1: cout << "Idle"; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	442	case 2: cout << "Operation"; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	443	default:
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	444	err << "Invalid master state " << data.mode;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	445	throw MasterException(err.str());
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	446	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	447
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	448	cout << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	449	<< " Slaves: " << data.slave_count << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	450
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	451	for (i = 0; i < 2; i++) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	452	cout << " Device" << i << ": ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	453	if (data.devices[i].address[0] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	454	&& data.devices[i].address[1] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	455	&& data.devices[i].address[2] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	456	&& data.devices[i].address[3] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	457	&& data.devices[i].address[4] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	458	&& data.devices[i].address[5] == 0x00) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	459	cout << "None.";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	460	} else {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	461	cout << hex << setfill('0')
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	462	<< setw(2) << (unsigned int) data.devices[i].address[0] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	463	<< setw(2) << (unsigned int) data.devices[i].address[1] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	464	<< setw(2) << (unsigned int) data.devices[i].address[2] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	465	<< setw(2) << (unsigned int) data.devices[i].address[3] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	466	<< setw(2) << (unsigned int) data.devices[i].address[4] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	467	<< setw(2) << (unsigned int) data.devices[i].address[5] << " ("
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	468	<< (data.devices[i].attached ? "attached" : "waiting...")
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	469	<< ")" << endl << dec
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	470	<< " Tx count: " << data.devices[i].tx_count << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	471	<< " Rx count: " << data.devices[i].rx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	472	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	473	cout << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	474	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	475	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	476
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	477	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	478
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	479	void Master::listPdos(int slavePosition, bool quiet)
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	480	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	481	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	482
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	483	if (slavePosition == -1) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	484	unsigned int numSlaves = slaveCount(), i;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	485
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	486	for (i = 0; i < numSlaves; i++) {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	487	listSlavePdos(i, quiet, true);
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	488	}
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	489	} else {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	490	listSlavePdos(slavePosition, quiet, false);
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	491	}
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	492	}
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	493
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	494	/****************************************************************************/
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	495
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	496	void Master::listSdos(int slavePosition, bool quiet)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	497	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	498	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	499
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	500	if (slavePosition == -1) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	501	unsigned int numSlaves = slaveCount(), i;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	502
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	503	for (i = 0; i < numSlaves; i++) {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	504	listSlaveSdos(i, quiet, true);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	505	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	506	} else {
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	507	listSlaveSdos(slavePosition, quiet, false);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	508	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	509	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	510
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	511	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	512
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	513	void Master::sdoDownload(
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	514	int slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	515	const string &dataTypeStr,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	516	const vector<string> &commandArgs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	517	)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	518	{
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	519	stringstream strIndex, strSubIndex, strValue, err;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	520	int number, sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	521	ec_ioctl_sdo_download_t data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	522	unsigned int i, uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	523	const CoEDataType *dataType = NULL;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	524
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	525	if (slavePosition < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	526	err << "'sdo_download' requires a slave! Please specify --slave.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	527	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	528	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	529	data.slave_position = slavePosition;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	530
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	531	if (commandArgs.size() != 3) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	532	err << "'sdo_download' takes 3 arguments!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	533	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	534	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	535
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	536	strIndex << commandArgs[0];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	537	strIndex >> hex >> number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	538	if (strIndex.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	539	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	540	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	541	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	542	data.sdo_index = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	543
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	544	strSubIndex << commandArgs[1];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	545	strSubIndex >> hex >> number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	546	if (strSubIndex.fail() \|\| number < 0x00 \|\| number > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	547	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	548	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	549	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	550	data.sdo_entry_subindex = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	551
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	552	if (dataTypeStr != "") { // data type specified
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	553	if (!(dataType = findDataType(dataTypeStr))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	554	err << "Invalid data type '" << dataTypeStr << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	555	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	556	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	557	} else { // no data type specified: fetch from dictionary
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	558	ec_ioctl_sdo_entry_t entry;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	559	unsigned int entryByteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	560
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	561	open(ReadWrite);
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	562
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	563	try {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	564	getSdoEntry(&entry, slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	565	data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	566	} catch (MasterException &e) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	567	err << "Failed to determine Sdo entry data type. "
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	568	<< "Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	569	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	570	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	571	if (!(dataType = findDataType(entry.data_type))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	572	err << "Pdo entry has unknown data type 0x"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	573	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	574	<< " Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	575	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	576	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	577	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	578
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	579	if (dataType->byteSize) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	580	data.data_size = dataType->byteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	581	} else {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	582	data.data_size = DefaultBufferSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	583	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	584
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	585	data.data = new uint8_t[data.data_size + 1];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	586
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	587	strValue << commandArgs[2];
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	588
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	589	switch (dataType->coeCode) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	590	case 0x0002: // int8
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	591	strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	592	if ((uint32_t) sval > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	593	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	594	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	595	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	596	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	597	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	598	*data.data = (int8_t) sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	599	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	600	case 0x0003: // int16
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	601	strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	602	if ((uint32_t) sval > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	603	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	604	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	605	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	606	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	607	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	608	(int16_t ) data.data = cputole16(sval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	609	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	610	case 0x0004: // int32
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	611	strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	612	(int32_t ) data.data = cputole32(sval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	613	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	614	case 0x0005: // uint8
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	615	strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	616	if ((uint32_t) uval > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	617	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	618	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	619	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	620	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	621	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	622	*data.data = (uint8_t) uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	623	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	624	case 0x0006: // uint16
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	625	strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	626	if ((uint32_t) uval > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	627	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	628	err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	629	<< dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	630	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	631	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	632	(uint16_t ) data.data = cputole16(uval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	633	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	634	case 0x0007: // uint32
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	635	strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	636	(uint32_t ) data.data = cputole32(uval);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	637	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	638	case 0x0009: // string
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	639	if (strValue.str().size() >= data.data_size) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	640	err << "String too big";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	641	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	642	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	643	data.data_size = strValue.str().size();
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	644	strValue >> (char *) data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	645	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	646	default:
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	647	break;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	648	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	649
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	650	if (strValue.fail()) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	651	err << "Invalid value argument '" << commandArgs[2] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	652	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	653	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	654
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	655	open(ReadWrite);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	656
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	657	if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	658	stringstream err;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	659	err << "Failed to download Sdo: " << strerror(errno);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	660	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	661	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	662	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	663
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	664	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	665	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	666
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	667	/****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	668
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	669	void Master::sdoUpload(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	670	int slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	671	const string &dataTypeStr,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	672	const vector<string> &commandArgs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	673	)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	674	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	675	stringstream strIndex, strSubIndex;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	676	int number, sval;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	677	ec_ioctl_sdo_upload_t data;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	678	unsigned int i, uval;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	679	const CoEDataType *dataType = NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	680
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	681	if (slavePosition < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	682	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	683	err << "'sdo_upload' requires a slave! Please specify --slave.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	684	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	685	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	686	data.slave_position = slavePosition;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	687
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	688	if (commandArgs.size() != 2) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	689	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	690	err << "'sdo_upload' takes two arguments!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	691	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	692	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	693
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	694	strIndex << commandArgs[0];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	695	strIndex >> hex >> number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	696	if (strIndex.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	697	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	698	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	699	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	700	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	701	data.sdo_index = number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	702
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	703	strSubIndex << commandArgs[1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	704	strSubIndex >> hex >> number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	705	if (strSubIndex.fail() \|\| number < 0x00 \|\| number > 0xff) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	706	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	707	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	708	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	709	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	710	data.sdo_entry_subindex = number;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	711
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	712	if (dataTypeStr != "") { // data type specified
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	713	if (!(dataType = findDataType(dataTypeStr))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	714	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	715	err << "Invalid data type '" << dataTypeStr << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	716	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	717	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	718	} else { // no data type specified: fetch from dictionary
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	719	ec_ioctl_sdo_entry_t entry;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	720	unsigned int entryByteSize;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	721
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	722	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	723
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	724	try {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	725	getSdoEntry(&entry, slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	726	data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	727	} catch (MasterException &e) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	728	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	729	err << "Failed to determine Sdo entry data type. "
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	730	<< "Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	731	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	732	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	733	if (!(dataType = findDataType(entry.data_type))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	734	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	735	err << "Pdo entry has unknown data type 0x"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	736	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	737	<< " Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	738	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	739	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	740	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	741
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	742	if (dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	743	data.target_size = dataType->byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	744	} else {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	745	data.target_size = DefaultBufferSize;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	746	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	747
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	748	data.target = new uint8_t[data.target_size + 1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	749
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	750	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	751
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	752	if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	753	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	754	err << "Failed to upload Sdo: " << strerror(errno);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	755	delete [] data.target;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	756	close();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	757	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	758	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	759
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	760	close();
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	761
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	762	if (dataType->byteSize && data.data_size != dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	763	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	764	err << "Data type mismatch. Expected " << dataType->name
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	765	<< " with " << dataType->byteSize << " byte, but got "
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	766	<< data.data_size << " byte.";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	767	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	768	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	769
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	770	cout << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	771	switch (dataType->coeCode) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	772	case 0x0002: // int8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	773	sval = (int8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	774	cout << sval << " 0x" << hex << setw(2) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	775	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	776	case 0x0003: // int16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	777	sval = le16tocpu((int16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	778	cout << sval << " 0x" << hex << setw(4) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	779	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	780	case 0x0004: // int32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	781	sval = le32tocpu((int32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	782	cout << sval << " 0x" << hex << setw(8) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	783	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	784	case 0x0005: // uint8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	785	uval = (unsigned int) (uint8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	786	cout << uval << " 0x" << hex << setw(2) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	787	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	788	case 0x0006: // uint16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	789	uval = le16tocpu((uint16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	790	cout << uval << " 0x" << hex << setw(4) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	791	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	792	case 0x0007: // uint32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	793	uval = le32tocpu((uint32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	794	cout << uval << " 0x" << hex << setw(8) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	795	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	796	case 0x0009: // string
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	797	cout << string((const char *) data.target, data.data_size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	798	<< endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	799	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	800	default:
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	801	printRawData(data.target, data.data_size);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	802	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	803	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	804
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	805	delete [] data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	806	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	807
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	808	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	809
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	810	void Master::showSlaves(int slavePosition)
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	811	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	812	open(Read);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	813
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	814	if (slavePosition == -1) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	815	unsigned int numSlaves = slaveCount(), i;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	816
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	817	for (i = 0; i < numSlaves; i++) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	818	showSlave(i);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	819	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	820	} else {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	821	showSlave(slavePosition);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	822	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	823	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	824
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	825	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	826
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	827	void Master::siiRead(int slavePosition)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	828	{
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	829	ec_ioctl_sii_t data;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	830	ec_ioctl_slave_t slave;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	831	unsigned int i;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	832
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	833	if (slavePosition < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	834	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	835	err << "'sii_read' requires a slave! Please specify --slave.";
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	836	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	837	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	838	data.slave_position = slavePosition;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	839
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	840	open(Read);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	841
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	842	getSlave(&slave, slavePosition);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	843
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	844	if (!slave.sii_nwords)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	845	return;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	846
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	847	data.offset = 0;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	848	data.nwords = slave.sii_nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	849	data.words = new uint16_t[data.nwords];
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	850
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	851	if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	852	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	853	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	854	err << "Failed to read SII: " << strerror(errno);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	855	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	856	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	857
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	858	for (i = 0; i < data.nwords; i++) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	859	uint16_t *w = data.words + i;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	860	cout << (uint8_t ) w << ((uint8_t ) w + 1);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	861	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	862
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	863	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	864	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	865
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	866	/****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	867
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	868	void Master::siiWrite(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	869	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	870	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	871	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	872	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	873	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	874	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	875	ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	876	ifstream file;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	877	unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	878	const uint16_t *categoryHeader;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	879	uint16_t categoryType, categorySize;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	880	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	881
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	882	if (slavePosition < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	883	err << "'sii_write' requires a slave! Please specify --slave.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	884	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	885	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	886	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	887
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	888	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	889	err << "'ssi_write' takes exactly one argument!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	890	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	891	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	892
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	893	file.open(commandArgs[0].c_str(), ifstream::in \| ifstream::binary);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	894	if (file.fail()) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	895	err << "Failed to open '" << commandArgs[0] << "'!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	896	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	897	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	898
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	899	// get length of file
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	900	file.seekg(0, ios::end);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	901	byte_size = file.tellg();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	902	file.seekg(0, ios::beg);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	903
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	904	if (!byte_size \|\| byte_size % 2) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	905	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	906	err << "Invalid file size! Must be non-zero and even.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	907	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	908	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	909
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	910	data.nwords = byte_size / 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	911	if (data.nwords < 0x0041 && !force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	912	err << "SII data too short (" << data.nwords << " words)! Mimimum is"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	913	" 40 fixed words + 1 delimiter. Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	914	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	915	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	916
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	917	// allocate buffer and read file into buffer
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	918	data.words = new uint16_t[data.nwords];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	919	file.read((char *) data.words, byte_size);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	920	file.close();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	921
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	922	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	923	// calculate checksum over words 0 to 6
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	924	crc = calcSiiCrc((const uint8_t *) data.words, 14);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	925	if (crc != ((const uint8_t *) data.words)[14]) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	926	err << "CRC incorrect. Must be 0x"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	927	<< hex << setfill('0') << setw(2) << (unsigned int) crc
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	928	<< ". Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	929	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	930	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	931
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	932	// cycle through categories to detect corruption
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	933	categoryHeader = data.words + 0x0040;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	934	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	935	while (categoryType != 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	936	if (categoryHeader + 1 > data.words + data.nwords) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	937	err << "SII data seem to be corrupted! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	938	<< "Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	939	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	940	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	941	categorySize = le16tocpu(*(categoryHeader + 1));
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	942	if (categoryHeader + categorySize + 2 > data.words + data.nwords) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	943	err << "SII data seem to be corrupted! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	944	"Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	945	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	946	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	947	categoryHeader += categorySize + 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	948	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	949	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	950	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	951
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	952	// send data to master
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	953	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	954	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	955	if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	956	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	957	err << "Failed to write SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	958	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	959	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	960	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	961
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	962	/****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	963
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	964	void Master::requestStates(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	965	int slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	966	const vector<string> &commandArgs
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	967	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	968	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	969	string stateStr;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	970	uint8_t state;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	971
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	972	if (commandArgs.size() != 1) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	973	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	974	err << "'state' takes exactly one argument!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	975	throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	976	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	977
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	978	stateStr = commandArgs[0];
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	979	transform(stateStr.begin(), stateStr.end(),
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	980	stateStr.begin(), (int (*) (int)) std::toupper);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	981
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	982	if (stateStr == "INIT") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	983	state = 0x01;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	984	} else if (stateStr == "PREOP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	985	state = 0x02;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	986	} else if (stateStr == "SAFEOP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	987	state = 0x04;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	988	} else if (stateStr == "OP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	989	state = 0x08;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	990	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	991	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	992	err << "Invalid state '" << commandArgs[0] << "'!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	993	throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	994	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	995
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	996	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	997
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	998	if (slavePosition == -1) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	999	unsigned int i, numSlaves = slaveCount();
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1000	for (i = 0; i < numSlaves; i++)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1001	requestState(i, state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1002	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1003	requestState(slavePosition, state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1004	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1005	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1006
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1007	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1008
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1009	void Master::generateXml(int slavePosition)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1010	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1011	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1012
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1013	if (slavePosition == -1) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1014	unsigned int numSlaves = slaveCount(), i;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1015
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1016	for (i = 0; i < numSlaves; i++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1017	generateSlaveXml(i);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1018	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1019	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1020	generateSlaveXml(slavePosition);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1021	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1022	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1023
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1024	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1025
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1026	void Master::open(Permissions perm)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1027	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1028	stringstream deviceName;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1029
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1030	if (fd != -1) { // already open
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	1031	return;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1032	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1033
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1034	deviceName << "/dev/EtherCAT" << index;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1035
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1036	if ((fd = ::open(deviceName.str().c_str(),
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1037	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1038	stringstream err;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1039	err << "Failed to open master device " << deviceName.str() << ": "
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1040	<< strerror(errno);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1041	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1042	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1043	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1044
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1045	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1046
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1047	void Master::close()
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1048	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1049	if (fd == -1)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1050	return;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1051
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1052	::close(fd);
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	1053	fd = -1;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1054	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1055
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1056	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1057
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1058	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1059	* Writes the Secondary slave address (alias) to the slave's SII.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1060	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1061	void Master::writeSlaveAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1062	uint16_t slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1063	uint16_t alias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1064	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1065	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1066	ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1067	ec_ioctl_slave_t slave;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1068	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1069	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1070
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1071	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1072
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1073	getSlave(&slave, slavePosition);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1074
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1075	if (slave.sii_nwords < 8) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1076	err << "Current SII contents are too small to set an alias "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1077	<< "(" << slave.sii_nwords << " words)!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1078	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1079	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1080
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1081	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1082	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1083	data.nwords = 8;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1084	data.words = new uint16_t[data.nwords];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1085
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1086	// read first 8 SII words
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1087	if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1088	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1089	err << "Failed to read SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1090	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1091	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1092
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1093	// write new alias address in word 4
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1094	data.words[4] = cputole16(alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1095
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1096	// calculate checksum over words 0 to 6
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1097	crc = calcSiiCrc((const uint8_t *) data.words, 14);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1098
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1099	// write new checksum into first byte of word 7
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1100	(uint8_t ) (data.words + 7) = crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1101
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1102	// write first 8 words with new alias and checksum
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1103	if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1104	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1105	err << "Failed to write SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1106	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1107	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1108
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1109	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1110	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1111
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1112	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1113
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1114	void Master::outputDomainData(unsigned int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1115	{
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1116	ec_ioctl_domain_t domain;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1117	ec_ioctl_data_t data;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1118	unsigned char *processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1119	unsigned int i;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1120
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1121	getDomain(&domain, domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1122
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1123	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1124	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1125
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1126	processData = new unsigned char[domain.data_size];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1127
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1128	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1129	getData(&data, domainIndex, domain.data_size, processData);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1130	} catch (MasterException &e) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1131	delete [] processData;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1132	throw e;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1133	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1134
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1135	for (i = 0; i < data.data_size; i++)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1136	cout << processData[i];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1137	cout.flush();
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1138
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1139	delete [] processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1140	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1141
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1142	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1143
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1144	void Master::showDomain(unsigned int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1145	{
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1146	ec_ioctl_domain_t domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1147	unsigned char *processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1148	ec_ioctl_data_t data;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1149	unsigned int i, j;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1150	ec_ioctl_domain_fmmu_t fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1151	unsigned int dataOffset;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1152
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1153	getDomain(&domain, domainIndex);
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1154
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1155	cout << "Domain" << domainIndex << ":"
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1156	<< " LogBaseAddr 0x"
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1157	<< hex << setfill('0') << setw(8) << domain.logical_base_address
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1158	<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1159	<< ", WorkingCounter "
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1160	<< dec << domain.working_counter << "/"
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1161	<< domain.expected_working_counter << endl;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1162
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1163	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1164	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1165
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1166	processData = new unsigned char[domain.data_size];
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1167
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1168	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1169	getData(&data, domainIndex, domain.data_size, processData);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1170	} catch (MasterException &e) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1171	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1172	throw e;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1173	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1174
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1175	for (i = 0; i < domain.fmmu_count; i++) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1176	getFmmu(&fmmu, domainIndex, i);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1177
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1178	cout << " SlaveConfig "
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1179	<< fmmu.slave_config_alias << ":" << fmmu.slave_config_position
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1180	<< ", Dir "
dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1181	<< setfill(' ') << setw(3) << (fmmu.fmmu_dir ? "In" : "Out")
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1182	<< ", LogAddr 0x"
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1183	<< hex << setfill('0') << setw(8) << fmmu.logical_address
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1184	<< ", Size " << dec << fmmu.data_size << endl;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1185
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1186	dataOffset = fmmu.logical_address - domain.logical_base_address;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1187	if (dataOffset + fmmu.data_size > domain.data_size) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1188	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1189	err << "Fmmu information corrupted!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1190	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1191	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1192	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1193
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1194	cout << " " << hex << setfill('0');
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1195	for (j = 0; j < fmmu.data_size; j++) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1196	cout << setw(2)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1197	<< (unsigned int) *(processData + dataOffset + j) << " ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1198	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1199	cout << endl;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1200	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1201
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1202	delete [] processData;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1203	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1204
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1205	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1206
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1207	void Master::listSlavePdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1208	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1209	bool quiet,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1210	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1211	)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1212	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1213	ec_ioctl_slave_t slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1214	ec_ioctl_sync_t sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1215	ec_ioctl_pdo_t pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1216	ec_ioctl_pdo_entry_t entry;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1217	unsigned int i, j, k;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1218
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1219	getSlave(&slave, slavePosition);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1220
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1221	if (withHeader)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1222	cout << "=== Slave " << slavePosition << " ===" << endl;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1223
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1224	for (i = 0; i < slave.sync_count; i++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1225	getSync(&sync, slavePosition, i);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1226
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1227	cout << "SM" << i << ":"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1228	<< " PhysAddr 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1229	<< hex << setfill('0') << setw(4) << sync.physical_start_address
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1230	<< ", DefaultSize "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1231	<< dec << setfill(' ') << setw(4) << sync.default_size
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1232	<< ", ControlRegister 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1233	<< hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1234	<< (unsigned int) sync.control_register
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1235	<< ", Enable " << dec << (unsigned int) sync.enable
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1236	<< endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1237
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1238	for (j = 0; j < sync.pdo_count; j++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1239	getPdo(&pdo, slavePosition, i, j);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1240
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1241	cout << " " << (pdo.dir ? "T" : "R") << "xPdo 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1242	<< hex << setfill('0') << setw(4) << pdo.index
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1243	<< " \"" << pdo.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1244
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1245	if (quiet)
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1246	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1247
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1248	for (k = 0; k < pdo.entry_count; k++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1249	getPdoEntry(&entry, slavePosition, i, j, k);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1250
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1251	cout << " Pdo entry 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1252	<< hex << setfill('0') << setw(4) << entry.index
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1253	<< ":" << setw(2) << (unsigned int) entry.subindex
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1254	<< ", " << dec << (unsigned int) entry.bit_length
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1255	<< " bit, \"" << entry.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1256	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1257	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1258	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1259	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1260
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1261	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1262
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1263	void Master::listSlaveSdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1264	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1265	bool quiet,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1266	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1267	)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1268	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1269	ec_ioctl_slave_t slave;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1270	ec_ioctl_sdo_t sdo;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1271	ec_ioctl_sdo_entry_t entry;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1272	unsigned int i, j, k;
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1273	const CoEDataType *d;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1274
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1275	getSlave(&slave, slavePosition);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1276
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1277	if (withHeader)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1278	cout << "=== Slave " << slavePosition << " ===" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1279
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1280	for (i = 0; i < slave.sdo_count; i++) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1281	getSdo(&sdo, slavePosition, i);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1282
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1283	cout << "Sdo "
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1284	<< hex << setfill('0') << setw(4) << sdo.sdo_index
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1285	<< ", \"" << sdo.name << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1286
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1287	if (quiet)
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1288	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1289
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1290	for (j = 0; j <= sdo.max_subindex; j++) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1291	getSdoEntry(&entry, slavePosition, -i, j);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1292
983 efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1293	cout << " " << hex << setfill('0')
efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1294	<< setw(4) << sdo.sdo_index << ":"
efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1295	<< setw(2) << (unsigned int) entry.sdo_entry_subindex
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1296	<< ", ";
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1297
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1298	if ((d = findDataType(entry.data_type))) {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1299	cout << d->name;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1300	} else {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1301	cout << "type " << setw(4) << entry.data_type;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1302	}
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1303
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1304	cout << ", " << dec << entry.bit_length << " bit, \""
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1305	<< entry.description << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1306	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1307	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1308	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1309
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1310	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1311
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1312	void Master::showSlave(uint16_t slavePosition)
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1313	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1314	ec_ioctl_slave_t slave;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1315	list<string> protoList;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1316	list<string>::const_iterator protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1317
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1318	getSlave(&slave, slavePosition);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1319
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1320	cout << "Slave " << dec << slavePosition << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1321	<< "Alias: 0x" << hex << setfill('0') << setw(4) << slave.alias << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1322	<< "State: " << slaveState(slave.state) << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1323	<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1324	<< "Identity:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1325	<< " Vendor Id: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1326	<< hex << setfill('0') << setw(8) << slave.vendor_id << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1327	<< " Product code: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1328	<< setw(8) << slave.product_code << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1329	<< " Revision number: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1330	<< setw(8) << slave.revision_number << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1331	<< " Serial number: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1332	<< setw(8) << slave.serial_number << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1333
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1334	if (slave.mailbox_protocols) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1335	cout << "Mailboxes:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1336	<< " RX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1337	<< hex << setw(4) << slave.rx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1338	<< dec << slave.rx_mailbox_size
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1339	<< ", TX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1340	<< hex << setw(4) << slave.tx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1341	<< dec << slave.tx_mailbox_size << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1342	<< " Supported protocols: ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1343
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1344	if (slave.mailbox_protocols & EC_MBOX_AOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1345	protoList.push_back("AoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1346	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1347	if (slave.mailbox_protocols & EC_MBOX_EOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1348	protoList.push_back("EoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1349	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1350	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1351	protoList.push_back("CoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1352	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1353	if (slave.mailbox_protocols & EC_MBOX_FOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1354	protoList.push_back("FoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1355	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1356	if (slave.mailbox_protocols & EC_MBOX_SOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1357	protoList.push_back("SoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1358	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1359	if (slave.mailbox_protocols & EC_MBOX_VOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1360	protoList.push_back("VoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1361	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1362
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1363	for (protoIter = protoList.begin(); protoIter != protoList.end();
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1364	protoIter++) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1365	if (protoIter != protoList.begin())
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1366	cout << ", ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1367	cout << *protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1368	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1369	cout << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1370	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1371
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1372	if (slave.has_general_category) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1373	cout << "General:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1374	<< " Name: " << slave.name << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1375
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1376	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1377	cout << " CoE details:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1378	<< " Enable Sdo: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1379	<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1380	<< " Enable Sdo Info: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1381	<< (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1382	<< " Enable Pdo Assign: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1383	<< (slave.coe_details.enable_pdo_assign
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1384	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1385	<< " Enable Pdo Configuration: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1386	<< (slave.coe_details.enable_pdo_configuration
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1387	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1388	<< " Enable Upload at startup: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1389	<< (slave.coe_details.enable_upload_at_startup
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1390	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1391	<< " Enable Sdo complete access: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1392	<< (slave.coe_details.enable_sdo_complete_access
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1393	? "yes" : "no") << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1394	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1395
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1396	cout << " Flags:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1397	<< " Enable SafeOp: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1398	<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1399	<< " Enable notLRW: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1400	<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1401	<< " Current consumption: "
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1402	<< dec << slave.current_on_ebus << " mA" << endl;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1403	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1404	cout << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1405	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1406
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1407	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1408
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1409	void Master::generateSlaveXml(uint16_t slavePosition)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1410	{
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1411	ec_ioctl_slave_t slave;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1412	ec_ioctl_sync_t sync;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1413	ec_ioctl_pdo_t pdo;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1414	ec_ioctl_pdo_entry_t entry;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1415	unsigned int i, j, k;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1416
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1417	getSlave(&slave, slavePosition);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1418
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1419	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1420	<< "<?xml version=\"1.0\" ?>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1421	<< " <EtherCATInfo>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1422	<< " <!-- Slave " << slave.position << " -->" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1423	<< " <Vendor>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1424	<< " <Id>" << slave.vendor_id << "</Id>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1425	<< " </Vendor>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1426	<< " <Descriptions>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1427	<< " <Devices>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1428	<< " <Device>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1429	<< " <Type ProductCode=\"#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1430	<< hex << setfill('0') << setw(8) << slave.product_code
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1431	<< "\" RevisionNo=\"#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1432	<< hex << setfill('0') << setw(8) << slave.revision_number
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1433	<< "\"/>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1434
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1435	for (i = 0; i < slave.sync_count; i++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1436	getSync(&sync, slavePosition, i);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1437
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1438	for (j = 0; j < sync.pdo_count; j++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1439	getPdo(&pdo, slavePosition, i, j);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1440
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1441	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1442	<< " <" << (pdo.dir ? "T" : "R") << "xPdo>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1443	<< " <Index>#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1444	<< hex << setfill('0') << setw(4) << pdo.index
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1445	<< "</Index>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1446	<< " <Name>" << pdo.name << "</Name>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1447
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1448	for (k = 0; k < pdo.entry_count; k++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1449	getPdoEntry(&entry, slavePosition, i, j, k);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1450
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1451	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1452	<< " <Entry>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1453	<< " <Index>#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1454	<< hex << setfill('0') << setw(4) << entry.index
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1455	<< "</Index>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1456	if (entry.index)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1457	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1458	<< " <SubIndex>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1459	<< dec << (unsigned int) entry.subindex
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1460	<< "</SubIndex>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1461
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1462	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1463	<< " <BitLen>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1464	<< (unsigned int) entry.bit_length
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1465	<< "</BitLen>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1466
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1467	if (entry.index) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1468	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1469	<< " <Name>" << entry.name
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1470	<< "</Name>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1471	<< " <DataType>";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1472
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1473	if (entry.bit_length == 1) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1474	cout << "BOOL";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1475	} else if (!(entry.bit_length % 8)) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1476	if (entry.bit_length <= 64)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1477	cout << "UINT" << (unsigned int) entry.bit_length;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1478	else
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1479	cout << "STRING("
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1480	<< (unsigned int) (entry.bit_length / 8)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1481	<< ")";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1482	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1483	cerr << "Invalid bit length "
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1484	<< (unsigned int) entry.bit_length << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1485	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1486
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1487	cout << "</DataType>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1488	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1489
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1490	cout << " </Entry>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1491	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1492
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1493	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1494	<< " </" << (pdo.dir ? "T" : "R") << "xPdo>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1495	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1496	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1497
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1498	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1499	<< " </Device>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1500	<< " </Devices>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1501	<< " </Descriptions>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1502	<< "</EtherCATInfo>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1503	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1504
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1505	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1506
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1507	unsigned int Master::slaveCount()
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1508	{
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1509	ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1510
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1511	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1512	return data.slave_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1513	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1514
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1515	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1516
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1517	void Master::getMaster(ec_ioctl_master_t *data)
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1518	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1519	if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1520	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1521	err << "Failed to get master information: " << strerror(errno);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1522	throw MasterException(err.str());
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1523	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1524	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1525
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1526	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1527
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1528	void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1529	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1530	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1531
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1532	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1533	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1534	err << "Failed to get slave configuration: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1535	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1536	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1537	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1538
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1539	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1540
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1541	void Master::getConfigPdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1542	ec_ioctl_config_pdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1543	unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1544	unsigned int dir,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1545	unsigned int pdo_pos
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1546	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1547	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1548	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1549	data->direction = dir;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1550	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1551
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1552	if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1553	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1554	err << "Failed to get slave config Pdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1555	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1556	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1557	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1558
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1559	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1560
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1561	void Master::getConfigPdoEntry(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1562	ec_ioctl_config_pdo_entry_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1563	unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1564	unsigned int dir,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1565	unsigned int pdo_pos,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1566	unsigned int entry_pos
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1567	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1568	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1569	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1570	data->direction = dir;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1571	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1572	data->entry_pos = entry_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1573
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1574	if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1575	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1576	err << "Failed to get slave config Pdo entry: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1577	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1578	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1579	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1580
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1581	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1582
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1583	void Master::getConfigSdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1584	ec_ioctl_config_sdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1585	unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1586	unsigned int sdo_pos
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1587	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1588	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1589	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1590	data->sdo_pos = sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1591
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1592	if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1593	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1594	err << "Failed to get slave config Sdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1595	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1596	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1597	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1598
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1599	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1600
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1601	void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1602	{
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1603	data->index = index;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1604
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1605	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1606	stringstream err;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1607	err << "Failed to get domain: ";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1608	if (errno == EINVAL)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1609	err << "Domain " << index << " does not exist!";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1610	else
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1611	err << strerror(errno);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1612	throw MasterException(err.str());
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1613	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1614	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1615
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1616	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1617
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1618	void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1619	unsigned int dataSize, unsigned char *mem)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1620	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1621	data->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1622	data->data_size = dataSize;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1623	data->target = mem;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1624
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1625	if (ioctl(fd, EC_IOCTL_DATA, data) < 0) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1626	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1627	err << "Failed to get domain data: " << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1628	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1629	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1630	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1631
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1632	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1633
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1634	void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1635	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1636	slave->position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1637
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1638	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1639	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1640	err << "Failed to get slave: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1641	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1642	err << "Slave " << slaveIndex << " does not exist!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1643	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1644	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1645	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1646	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1647	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1648
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1649	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1650
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1651	void Master::getFmmu(
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1652	ec_ioctl_domain_fmmu_t *fmmu,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1653	unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1654	unsigned int fmmuIndex
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1655	)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1656	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1657	fmmu->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1658	fmmu->fmmu_index = fmmuIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1659
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1660	if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1661	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1662	err << "Failed to get domain FMMU: ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1663	if (errno == EINVAL)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1664	err << "Either domain " << domainIndex << " does not exist, "
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1665	<< "or it contains less than " << (unsigned int) fmmuIndex + 1
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1666	<< " FMMus!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1667	else
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1668	err << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1669	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1670	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1671	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1672
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1673	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1674
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1675	void Master::getSync(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1676	ec_ioctl_sync_t *sync,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1677	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1678	uint8_t syncIndex
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1679	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1680	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1681	sync->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1682	sync->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1683
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1684	if (ioctl(fd, EC_IOCTL_SYNC, sync)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1685	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1686	err << "Failed to get sync manager: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1687	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1688	err << "Either slave " << slaveIndex << " does not exist, "
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1689	<< "or it contains less than " << (unsigned int) syncIndex + 1
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1690	<< " sync managers!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1691	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1692	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1693	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1694	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1695	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1696
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1697	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1698
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1699	void Master::getPdo(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1700	ec_ioctl_pdo_t *pdo,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1701	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1702	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1703	uint8_t pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1704	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1705	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1706	pdo->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1707	pdo->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1708	pdo->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1709
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1710	if (ioctl(fd, EC_IOCTL_PDO, pdo)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1711	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1712	err << "Failed to get Pdo: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1713	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1714	err << "Either slave " << slaveIndex << " does not exist, "
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1715	<< "or it contains less than " << (unsigned int) syncIndex + 1
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1716	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1717	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1718	<< pdoPos + 1 << " Pdos!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1719	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1720	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1721	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1722	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1723	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1724
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1725	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1726
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1727	void Master::getPdoEntry(
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1728	ec_ioctl_pdo_entry_t *entry,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1729	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1730	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1731	uint8_t pdoPos,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1732	uint8_t entryPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1733	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1734	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1735	entry->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1736	entry->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1737	entry->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1738	entry->entry_pos = entryPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1739
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1740	if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1741	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1742	err << "Failed to get Pdo entry: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1743	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1744	err << "Either slave " << slaveIndex << " does not exist, "
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1745	<< "or it contains less than " << (unsigned int) syncIndex + 1
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1746	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1747	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1748	<< pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1749	<< " contains less than " << (unsigned int) entryPos + 1
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1750	<< " entries!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1751	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1752	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1753	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1754	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1755	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1756
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1757	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1758
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1759	void Master::getSdo(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1760	ec_ioctl_sdo_t *sdo,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1761	uint16_t slaveIndex,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1762	uint16_t sdoPosition
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1763	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1764	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1765	sdo->slave_position = slaveIndex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1766	sdo->sdo_position = sdoPosition;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1767
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1768	if (ioctl(fd, EC_IOCTL_SDO, sdo)) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1769	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1770	err << "Failed to get Sdo: ";
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1771	if (errno == EINVAL)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1772	err << "Either slave " << slaveIndex << " does not exist, "
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1773	<< "or it contains less than " << sdoPosition + 1 << " Sdos!"
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1774	<< endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1775	else
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1776	err << strerror(errno);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1777	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1778	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1779	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1780
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1781	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1782
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1783	void Master::getSdoEntry(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1784	ec_ioctl_sdo_entry_t *entry,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1785	uint16_t slaveIndex,
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1786	int sdoSpec,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1787	uint8_t entrySubindex
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1788	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1789	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1790	entry->slave_position = slaveIndex;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1791	entry->sdo_spec = sdoSpec;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1792	entry->sdo_entry_subindex = entrySubindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1793
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1794	if (ioctl(fd, EC_IOCTL_SDO_ENTRY, entry)) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1795	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1796	err << "Failed to get Sdo entry: ";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1797	err << strerror(errno);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1798	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1799	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1800	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1801
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1802	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1803
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1804	void Master::requestState(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1805	uint16_t slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1806	uint8_t state
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1807	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1808	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1809	ec_ioctl_slave_state_t data;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1810
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1811	data.slave_position = slavePosition;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1812	data.requested_state = state;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1813
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1814	if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1815	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1816	err << "Failed to request slave state: ";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1817	if (errno == EINVAL)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1818	err << "Slave " << slavePosition << " does not exist!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1819	else
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1820	err << strerror(errno);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1821	throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1822	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1823	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1824
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1825	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1826
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1827	string Master::slaveState(uint8_t state)
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1828	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1829	switch (state) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1830	case 1: return "INIT";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1831	case 2: return "PREOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1832	case 4: return "SAFEOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1833	case 8: return "OP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1834	default: return "???";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1835	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1836	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1837
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1838	/****************************************************************************/
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1839
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1840	void Master::printRawData(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1841	const uint8_t *data,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1842	unsigned int size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1843	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1844	cout << hex << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1845	while (size--) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1846	cout << "0x" << setw(2) << (unsigned int) *data++;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1847	if (size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1848	cout << " ";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1849	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1850	cout << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1851	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1852
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1853	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1854
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1855	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1856	* Calculates the SII checksum field.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1857	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1858	* The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1859	* initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1860	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1861	* The below code was originally generated with PYCRC
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1862	* http://www.tty1.net/pycrc
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1863	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1864	* ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1865	* --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1866	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1867	* \return CRC8
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1868	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1869	uint8_t Master::calcSiiCrc(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1870	const uint8_t data, /< pointer to data /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1871	size_t length /*< number of bytes in \a data /
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1872	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1873	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1874	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1875	uint8_t bit, byte, crc = 0x48;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1876
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1877	while (length--) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1878	byte = *data++;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1879	for (i = 0; i < 8; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1880	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1881	crc = (crc << 1) \| ((byte >> (7 - i)) & 0x01);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1882	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1883	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1884	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1885
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1886	for (i = 0; i < 8; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1887	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1888	crc <<= 1;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1889	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1890	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1891
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1892	return crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1893	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1894
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1895	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 18 Jun 2008 09:26:46 +0000
changeset 1020	9bf2ddf05e17
parent 1001	a8eab75aa8e3
child 1029	61ffe5f22306
permissions	-rw-r--r--