etherlabmaster: tool/CommandMaster.cpp@9d1cdbf41247 (annotated)

1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	3	* $Id$
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	4	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	5	* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	6	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	7	* This file is part of the IgH EtherCAT Master.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	8	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	11	* published by the Free Software Foundation.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	12	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	16	* Public License for more details.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	17	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	18	* You should have received a copy of the GNU General Public License along
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	21	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#include <iostream>
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <iomanip>
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	using namespace std;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include "CommandMaster.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	36	#define MAX_TIME_STR_SIZE 50
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	37
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	/*****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	CommandMaster::CommandMaster():
1143 09ee878d7214 Fixed duplicate alias command. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	41	Command("master", "Show master and Ethernet device information.")
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	string CommandMaster::helpString() const
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	stringstream str;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	str << getName() << " [OPTIONS]" << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	<< endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	<< getBriefDescription() << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	<< endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	<< "Command-specific options:" << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	<< " --master -m <index> Index of the master to use. Default: 0."
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	<< endl << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	<< numericInfo();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	59
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	return str.str();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	/****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	void CommandMaster::execute(MasterDevice &m, const StringVector &args)
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	ec_ioctl_master_t data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	stringstream err;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	unsigned int i;
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	70	time_t epoch;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	71	char time_str[MAX_TIME_STR_SIZE + 1];
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	72	size_t time_str_size;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
1373 e651000f1ff1 Complain about given arguments if none are required. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	74	if (args.size()) {
e651000f1ff1 Complain about given arguments if none are required. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	75	err << "'" << getName() << "' takes no arguments!";
e651000f1ff1 Complain about given arguments if none are required. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	76	throwInvalidUsageException(err);
e651000f1ff1 Complain about given arguments if none are required. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	77	}
e651000f1ff1 Complain about given arguments if none are required. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	78
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	m.open(MasterDevice::Read);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	m.getMaster(&data);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	cout
1166 006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1143 diff changeset	83	<< "Master" << m.getIndex() << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	<< " Phase: ";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	switch (data.phase) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	case 0: cout << "Waiting for device..."; break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	case 1: cout << "Idle"; break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	case 2: cout << "Operation"; break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	default: cout << "???";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	92
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	cout << endl
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	94	<< " Slaves: " << data.slave_count << endl
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	95	<< " Ethernet devices:" << endl;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	for (i = 0; i < 2; i++) {
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	98	cout << " " << (i == 0 ? "Main" : "Backup") << ": ";
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	if (data.devices[i].address[0] == 0x00
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	&& data.devices[i].address[1] == 0x00
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	&& data.devices[i].address[2] == 0x00
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	&& data.devices[i].address[3] == 0x00
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	&& data.devices[i].address[4] == 0x00
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	&& data.devices[i].address[5] == 0x00) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	cout << "None.";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	} else {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	cout << hex << setfill('0')
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	<< setw(2) << (unsigned int) data.devices[i].address[0] << ":"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	<< setw(2) << (unsigned int) data.devices[i].address[1] << ":"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	<< setw(2) << (unsigned int) data.devices[i].address[2] << ":"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	<< setw(2) << (unsigned int) data.devices[i].address[3] << ":"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	<< setw(2) << (unsigned int) data.devices[i].address[4] << ":"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	<< setw(2) << (unsigned int) data.devices[i].address[5] << " ("
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	<< (data.devices[i].attached ? "attached" : "waiting...")
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	<< ")" << endl << dec
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	116	<< " Link: " << (data.devices[i].link_state ? "UP" : "DOWN") << endl
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	117	<< " Tx count: " << data.devices[i].tx_count << endl
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	118	<< " Rx count: " << data.devices[i].rx_count;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	cout << endl;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	}
1415 9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	122
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	123	cout << " Distributed clocks:" << endl
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	124	<< " Reference clock: ";
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	125	if (data.ref_clock != 0xffff) {
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	126	cout << "Slave " << dec << data.ref_clock;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	127	} else {
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	128	cout << "None";
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	129	}
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	130	cout << endl
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	131	<< " Application time: " << data.app_time << endl
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	132	<< " ";
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	133
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	134	epoch = data.app_time / 1000000000 + 946684800ULL;
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	135	time_str_size = strftime(time_str, MAX_TIME_STR_SIZE,
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	136	"%Y-%m-%d %H:%M:%S", gmtime(&epoch));
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	137	cout << string(time_str, time_str_size) << "."
9d1cdbf41247 Output reference clock and application time in 'ethercat Master'. Florian Pose <fp@igh-essen.com> parents: 1401 diff changeset	138	<< setfill('0') << setw(9) << data.app_time % 1000000000 << endl;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	140
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 24 Apr 2009 08:39:20 +0000
changeset 1415	9d1cdbf41247
parent 1401	96baef8a3162
child 1530	96629de2202b
permissions	-rw-r--r--