etherlabmaster: tools/Master.cpp@b6998e916d5a (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;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	103	verbosity = Normal;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	fd = -1;
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
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	Master::~Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	close();
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	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	116	void Master::setIndex(unsigned int i)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	117	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	118	index = i;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	/****************************************************************************/
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	122
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	123	void Master::setVerbosity(Verbosity v)
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	124	{
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	125	verbosity = v;
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	126	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	127
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	128	/*****************************************************************************/
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	* 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	132	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	133	void Master::writeAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	134	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	135	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	136	const vector<string> &commandArgs
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	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	139	uint16_t alias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	140	stringstream err, strAlias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	141	int number;
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	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	144	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	145	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	146	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	147	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	148
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	149	strAlias << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	150	strAlias
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	151	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	152	>> number;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	153	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	154	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	155	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	156	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	157	alias = number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	158
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	159	if (slavePosition == -1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	160	unsigned int numSlaves, i;
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	if (!force) {
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	163	err << "This will write the alias addresses of all slaves to "
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	164	<< alias << "! Please specify --force to proceed.";
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	165	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	166	}
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	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	169	numSlaves = slaveCount();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	170
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	171	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	172	writeSlaveAlias(i, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	173	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	174	} else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	175	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	176	writeSlaveAlias(slavePosition, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	177	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	178	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	179
990 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
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	182	/** Lists the bus configuration.
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	183	*/
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	184	void Master::showConfigs()
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	185	{
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	186	if (verbosity == Verbose) {
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	187	showDetailedConfigs();
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	188	} else {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	189	listConfigs();
990 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	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	192
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	194
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	195	void Master::outputData(int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	196	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	197	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	198
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	199	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	200	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	201	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	202
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	203	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	204
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	205	for (i = 0; i < master.domain_count; i++) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	206	outputDomainData(i);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	207	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	208	} else {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	209	outputDomainData(domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	210	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	211	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	212
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	213	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	214
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	215	void Master::setDebug(const vector<string> &commandArgs)
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	216	{
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	217	stringstream str;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	218	int debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	219
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	220	if (commandArgs.size() != 1) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	221	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	222	err << "'debug' takes exactly one argument!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	223	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	224	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	225
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	226	str << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	227	str >> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	228	>> debugLevel;
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	229
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	230	if (str.fail()) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	231	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	232	err << "Invalid debug level '" << commandArgs[0] << "'!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	233	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	234	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	235
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	236	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	237
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	238	if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	239	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	240	err << "Failed to set debug level: " << strerror(errno);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	241	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	242	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	243	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	244
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	245	/****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	246
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	247	void Master::showDomains(int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	248	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	249	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	250
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	251	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	252	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	253	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	254
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	255	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	256
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	257	for (i = 0; i < master.domain_count; i++) {
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	258	showDomain(i);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	259	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	260	} else {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	261	showDomain(domainIndex);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	262	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	263	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	264
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	265	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	266
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	267	void Master::showMaster()
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	268	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	269	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	270	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	271	unsigned int i;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	272
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	273	open(Read);
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	274	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	275
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	276	cout
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	277	<< "Master" << index << endl
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	278	<< " Phase: ";
61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	279
61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	280	switch (data.phase) {
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	281	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	282	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	283	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	284	default:
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	285	err << "Invalid master phase " << data.phase;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	286	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	287	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	288
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	289	cout << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	290	<< " 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	291
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	292	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	293	cout << " Device" << i << ": ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	294	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	295	&& 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	296	&& 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	297	&& 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	298	&& 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	299	&& 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	300	cout << "None.";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	301	} else {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	302	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	303	<< 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	304	<< 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	305	<< 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	306	<< 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	307	<< 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	308	<< 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	309	<< (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	310	<< ")" << endl << dec
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	311	<< " 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	312	<< " 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	313	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	314	cout << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	315	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	316	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	317
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	318	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	319
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	320	void Master::listPdos(int slavePosition)
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	321	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	322	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	323
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	324	if (slavePosition == -1) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	325	unsigned int numSlaves = slaveCount(), i;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	326
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	327	for (i = 0; i < numSlaves; i++) {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	328	listSlavePdos(i, true);
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	329	}
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	330	} else {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	331	listSlavePdos(slavePosition, false);
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	332	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	333	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	334
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	335	/****************************************************************************/
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	336
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	337	void Master::listSdos(int slavePosition)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	338	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	339	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	340
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	341	if (slavePosition == -1) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	342	unsigned int numSlaves = slaveCount(), i;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	343
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	344	for (i = 0; i < numSlaves; i++) {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	345	listSlaveSdos(i, true);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	346	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	347	} else {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	348	listSlaveSdos(slavePosition, false);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	349	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	350	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	351
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	352	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	353
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	354	void Master::sdoDownload(
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	355	int slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	356	const string &dataTypeStr,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	357	const vector<string> &commandArgs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	358	)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	359	{
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	360	stringstream strIndex, strSubIndex, strValue, err;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	361	ec_ioctl_slave_sdo_download_t data;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	362	unsigned int number;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	363	const CoEDataType *dataType = NULL;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	364
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	365	if (slavePosition < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	366	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	367	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	368	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	369	data.slave_position = slavePosition;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	370
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	371	if (commandArgs.size() != 3) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	372	err << "'sdo_download' takes 3 arguments!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	373	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	374	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	375
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	376	strIndex << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	377	strIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	378	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	379	>> data.sdo_index;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	380	if (strIndex.fail()) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	381	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	382	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	383	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	384
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	385	strSubIndex << commandArgs[1];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	386	strSubIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	387	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	388	>> number;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	389	if (strSubIndex.fail() \|\| number > 0xff) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	390	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	391	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	392	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	393	data.sdo_entry_subindex = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	394
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	395	if (dataTypeStr != "") { // data type specified
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	396	if (!(dataType = findDataType(dataTypeStr))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	397	err << "Invalid data type '" << dataTypeStr << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	398	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	399	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	400	} else { // no data type specified: fetch from dictionary
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	401	ec_ioctl_slave_sdo_entry_t entry;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	402
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	403	open(ReadWrite);
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	404
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	405	try {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	406	getSdoEntry(&entry, slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	407	data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	408	} catch (MasterException &e) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	409	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	410	<< "Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	411	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	412	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	413	if (!(dataType = findDataType(entry.data_type))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	414	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	415	<< 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	416	<< " Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	417	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	418	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	419	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	420
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	421	if (dataType->byteSize) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	422	data.data_size = dataType->byteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	423	} else {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	424	data.data_size = DefaultBufferSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	425	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	426
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	427	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	428
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	429	strValue << commandArgs[2];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	430	strValue >> resetiosflags(ios::basefield); // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	431	strValue.exceptions(ios::failbit);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	432
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	433	try {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	434	switch (dataType->coeCode) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	435	case 0x0002: // int8
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	436	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	437	int16_t val; // uint8_t is interpreted as char
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	438	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	439	if (val > 127 \|\| val < -128)
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	440	throw ios::failure("Value out of range");
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	441	*data.data = val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	442	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	443	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	444	case 0x0003: // int16
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	445	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	446	int16_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	447	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	448	(int16_t ) data.data = cputole16(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	449	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	450	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	451	case 0x0004: // int32
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	452	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	453	int32_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	454	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	455	(int32_t ) data.data = cputole32(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	456	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	457	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	458	case 0x0005: // uint8
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	459	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	460	uint16_t val; // uint8_t is interpreted as char
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	461	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	462	if (val > 0xff)
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	463	throw ios::failure("Value out of range");
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	464	*data.data = val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	465	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	466	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	467	case 0x0006: // uint16
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	468	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	469	uint16_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	470	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	471	(uint16_t ) data.data = cputole16(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	472	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	473	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	474	case 0x0007: // uint32
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	475	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	476	uint32_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	477	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	478	(uint32_t ) data.data = cputole32(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	479	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	480	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	481	case 0x0009: // string
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	482	if (strValue.str().size() >= data.data_size) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	483	err << "String too large";
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	484	throw MasterException(err.str());
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	485	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	486	data.data_size = strValue.str().size();
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	487	strValue >> (char *) data.data;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	488	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	489
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	490	default:
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	491	delete [] data.data;
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	492	err << "Unknown data type 0x" << hex << dataType->coeCode;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	493	throw MasterException(err.str());
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	494	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	495	} catch (ios::failure &e) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	496	delete [] data.data;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	497	err << "Invalid value argument '" << commandArgs[2]
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	498	<< "' for type '" << dataType->name << "'!";
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	499	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	500	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	501
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	502	open(ReadWrite);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	503
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	504	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	505	stringstream err;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	506	err << "Failed to download Sdo: ";
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	507	if (errno == EIO && data.abort_code) {
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	508	err << "Abort code 0x" << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	509	<< setw(8) << data.abort_code;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	510	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	511	err << strerror(errno);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	512	}
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	513	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	514	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	515	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	516
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	517	delete [] data.data;
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
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	520	/****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	521
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	522	void Master::sdoUpload(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	523	int slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	524	const string &dataTypeStr,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	525	const vector<string> &commandArgs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	526	)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	527	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	528	stringstream strIndex, strSubIndex;
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	529	int sval;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	530	ec_ioctl_slave_sdo_upload_t data;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	531	unsigned int uval;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	532	const CoEDataType *dataType = NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	533
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	534	if (slavePosition < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	535	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	536	err << "'sdo_upload' requires a slave! Please specify --slave.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	537	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	538	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	539	data.slave_position = slavePosition;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	540
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	541	if (commandArgs.size() != 2) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	542	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	543	err << "'sdo_upload' takes two arguments!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	544	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	545	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	546
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	547	strIndex << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	548	strIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	549	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	550	>> data.sdo_index;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	551	if (strIndex.fail()) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	552	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	553	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	554	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	555	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	556
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	557	strSubIndex << commandArgs[1];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	558	strSubIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	559	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	560	>> uval;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	561	if (strSubIndex.fail() \|\| uval > 0xff) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	562	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	563	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	564	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	565	}
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	566	data.sdo_entry_subindex = uval;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	567
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	568	if (dataTypeStr != "") { // data type specified
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	569	if (!(dataType = findDataType(dataTypeStr))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	570	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	571	err << "Invalid data type '" << dataTypeStr << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	572	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	573	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	574	} else { // no data type specified: fetch from dictionary
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	575	ec_ioctl_slave_sdo_entry_t entry;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	576
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	577	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	578
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	579	try {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	580	getSdoEntry(&entry, slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	581	data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	582	} catch (MasterException &e) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	583	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	584	err << "Failed to determine Sdo entry data type. "
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	585	<< "Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	586	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	587	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	588	if (!(dataType = findDataType(entry.data_type))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	589	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	590	err << "Pdo entry has unknown data type 0x"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	591	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	592	<< " Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	593	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	594	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	595	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	596
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	597	if (dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	598	data.target_size = dataType->byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	599	} else {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	600	data.target_size = DefaultBufferSize;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	601	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	602
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	603	data.target = new uint8_t[data.target_size + 1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	604
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	605	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	606
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	607	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	608	stringstream err;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	609	err << "Failed to upload Sdo: ";
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	610	if (errno == EIO && data.abort_code) {
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	611	err << "Abort code 0x" << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	612	<< setw(8) << data.abort_code;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	613	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	614	err << strerror(errno);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	615	}
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	616	delete [] data.target;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	617	close();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	618	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	619	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	620
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	621	close();
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	622
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	623	if (dataType->byteSize && data.data_size != dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	624	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	625	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	626	<< " with " << dataType->byteSize << " byte, but got "
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	627	<< data.data_size << " byte.";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	628	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	629	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	630
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	631	cout << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	632	switch (dataType->coeCode) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	633	case 0x0002: // int8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	634	sval = (int8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	635	cout << sval << " 0x" << hex << setw(2) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	636	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	637	case 0x0003: // int16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	638	sval = le16tocpu((int16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	639	cout << sval << " 0x" << hex << setw(4) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	640	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	641	case 0x0004: // int32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	642	sval = le32tocpu((int32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	643	cout << sval << " 0x" << hex << setw(8) << sval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	644	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	645	case 0x0005: // uint8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	646	uval = (unsigned int) (uint8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	647	cout << uval << " 0x" << hex << setw(2) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	648	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	649	case 0x0006: // uint16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	650	uval = le16tocpu((uint16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	651	cout << uval << " 0x" << hex << setw(4) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	652	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	653	case 0x0007: // uint32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	654	uval = le32tocpu((uint32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	655	cout << uval << " 0x" << hex << setw(8) << uval << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	656	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	657	case 0x0009: // string
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	658	cout << string((const char *) data.target, data.data_size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	659	<< endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	660	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	661	default:
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	662	printRawData(data.target, data.data_size);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	663	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	664	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	665
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	666	delete [] data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	667	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	668
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	669	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	670
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	671	void Master::showSlaves(int slavePosition)
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	672	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	673	open(Read);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	674
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	675	if (verbosity == Verbose) {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	676	if (slavePosition == -1) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	677	unsigned int numSlaves = slaveCount(), i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	678
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	679	for (i = 0; i < numSlaves; i++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	680	showSlave(i);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	681	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	682	} else {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	683	showSlave(slavePosition);
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	684	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	685	} else {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	686	listSlaves(slavePosition);
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	687	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	688	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	689
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	690	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	691
1103 b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	692	struct CategoryName {
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	693	uint16_t type;
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	694	const char *name;
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	695	};
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	696
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	697	static const CategoryName categoryNames[] = {
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	698	{0x000a, "STRINGS"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	699	{0x0014, "DataTypes"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	700	{0x001e, "General"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	701	{0x0028, "FMMU"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	702	{0x0029, "SyncM"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	703	{0x0032, "TXPDO"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	704	{0x0033, "RXPDO"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	705	{0x003c, "DC"},
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	706	{}
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	707	};
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	708
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	709	const char *getCategoryName(uint16_t type)
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	710	{
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	711	const CategoryName *cn = categoryNames;
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	712
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	713	while (cn->type) {
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	714	if (cn->type == type) {
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	715	return cn->name;
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	716	}
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	717	cn++;
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	718	}
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	719
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	720	return "unknown";
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	721	}
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	722
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	723	void Master::siiRead(int slavePosition)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	724	{
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	725	ec_ioctl_slave_sii_t data;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	726	ec_ioctl_slave_t slave;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	727	unsigned int i;
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	728	const uint16_t *categoryHeader;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	729	uint16_t categoryType, categorySize;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	730	stringstream err;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	731
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	732	if (slavePosition < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	733	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	734	err << "'sii_read' requires a slave! Please specify --slave.";
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	735	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	736	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	737	data.slave_position = slavePosition;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	738
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	739	open(Read);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	740
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	741	getSlave(&slave, slavePosition);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	742
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	743	if (!slave.sii_nwords)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	744	return;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	745
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	746	data.offset = 0;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	747	data.nwords = slave.sii_nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	748	data.words = new uint16_t[data.nwords];
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	749
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	750	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	751	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	752	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	753	err << "Failed to read SII: " << strerror(errno);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	754	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	755	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	756
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	757	if (verbosity == Verbose) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	758	cout << "SII Area:" << hex << setfill('0');
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	759	for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	760	if (i % BreakAfterBytes) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	761	cout << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	762	} else {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	763	cout << endl << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	764	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	765	cout << setw(2) << (unsigned int) ((uint8_t ) data.words + i);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	766	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	767	cout << endl;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	768
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	769	if (data.nwords > 0x0040U) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	770	// cycle through categories
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	771	categoryHeader = data.words + 0x0040U;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	772	categoryType = le16tocpu(*categoryHeader);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	773	while (categoryType != 0xffff) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	774	cout << "SII Category 0x" << hex
1103 b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	775	<< setw(4) << categoryType
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	776	<< " (" << getCategoryName(categoryType) << ")" << flush;
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	777
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	778	if (categoryHeader + 1 > data.words + data.nwords) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	779	err << "SII data seem to be corrupted!";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	780	throw MasterException(err.str());
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	781	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	782	categorySize = le16tocpu(*(categoryHeader + 1));
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	783	cout << ", " << dec << categorySize << " words" << flush;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	784
1103 b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	785	if (categoryHeader + 2 + categorySize
b6998e916d5a Output category names. Florian Pose <fp@igh-essen.com> parents: 1102 diff changeset	786	> data.words + data.nwords) {
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	787	err << "SII data seem to be corrupted!";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	788	throw MasterException(err.str());
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	789	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	790
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	791	cout << hex;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	792	for (i = 0; i < categorySize * 2U; i++) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	793	if (i % BreakAfterBytes) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	794	cout << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	795	} else {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	796	cout << endl << " ";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	797	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	798	cout << setw(2) << (unsigned int)
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	799	((uint8_t ) (categoryHeader + 2) + i);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	800	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	801	cout << endl;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	802
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	803	if (categoryHeader + 2 + categorySize + 1
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	804	> data.words + data.nwords) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	805	err << "SII data seem to be corrupted!";
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	806	throw MasterException(err.str());
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	807	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	808	categoryHeader += 2 + categorySize;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	809	categoryType = le16tocpu(*categoryHeader);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	810	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	811	}
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	812	} else {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	813	for (i = 0; i < data.nwords; i++) {
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	814	uint16_t *w = data.words + i;
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	815	cout << (uint8_t ) w << ((uint8_t ) w + 1);
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	816	}
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	817	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	818
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	819	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	820	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	821
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	822	/****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	823
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	824	void Master::siiWrite(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	825	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	826	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	827	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	828	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	829	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	830	stringstream err;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	831	ec_ioctl_slave_sii_t data;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	832	ifstream file;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	833	unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	834	const uint16_t *categoryHeader;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	835	uint16_t categoryType, categorySize;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	836	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	837
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	838	if (slavePosition < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	839	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	840	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	841	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	842	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	843
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	844	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	845	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	846	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	847	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	848
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	849	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	850	if (file.fail()) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	851	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	852	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	853	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	854
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	855	// get length of file
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	856	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	857	byte_size = file.tellg();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	858	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	859
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	860	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	861	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	862	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	863	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	864	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	865
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	866	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	867	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	868	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	869	" 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	870	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	871	}
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	// 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	874	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	875	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	876	file.close();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	877
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	878	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	879	// 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	880	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	881	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	882	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	883	<< 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	884	<< ". 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	885	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	886	}
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	// cycle through categories to detect corruption
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	889	categoryHeader = data.words + 0x0040U;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	890	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	891	while (categoryType != 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	892	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	893	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	894	<< "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	895	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	896	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	897	categorySize = le16tocpu(*(categoryHeader + 1));
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	898	if (categoryHeader + 2 + categorySize + 1
5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	899	> data.words + data.nwords) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	900	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	901	"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	902	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	903	}
1102 5461894b05ab Implemented 'ethercat sii_read -v'. Florian Pose <fp@igh-essen.com> parents: 1101 diff changeset	904	categoryHeader += 2 + categorySize;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	905	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	906	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	907	}
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	// send data to master
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	910	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	911	data.offset = 0;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	912	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	913	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	914	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	915	throw MasterException(err.str());
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	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	918
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	919	/****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	920
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	921	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	922	int slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	923	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	924	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	925	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	926	string stateStr;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	927	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	928
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	929	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	930	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	931	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	932	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	933	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	934
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	935	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	936	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	937	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	938
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	939	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	940	state = 0x01;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	941	} 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	942	state = 0x02;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	943	} 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	944	state = 0x04;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	945	} 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	946	state = 0x08;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	947	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	948	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	949	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	950	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	951	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	952
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	953	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	954
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	955	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	956	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	957	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	958	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	959	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	960	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	961	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	962	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	963
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	964	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	965
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	966	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	967	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	968	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	969
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	970	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	971	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	972
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	973	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	974	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	975	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	976	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	977	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	978	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	979	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	980
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	981	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	982
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	983	void Master::open(Permissions perm)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	984	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	985	stringstream deviceName;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	986
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	987	if (fd != -1) { // already open
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	988	return;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	989	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	990
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	991	deviceName << "/dev/EtherCAT" << index;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	992
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	993	if ((fd = ::open(deviceName.str().c_str(),
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	994	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	995	stringstream err;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	996	err << "Failed to open master device " << deviceName.str() << ": "
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	997	<< strerror(errno);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	998	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	999	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1000	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1001
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1002	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1003
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1004	void Master::close()
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1005	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1006	if (fd == -1)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1007	return;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1008
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1009	::close(fd);
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	1010	fd = -1;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1011	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1012
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1013	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1014
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1015	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1016	* 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	1017	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1018	void Master::writeSlaveAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1019	uint16_t slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1020	uint16_t alias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1021	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1022	{
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1023	ec_ioctl_slave_sii_t data;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1024	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	1025	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1026	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1027
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1028	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1029
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1030	getSlave(&slave, slavePosition);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1031
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1032	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	1033	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	1034	<< "(" << slave.sii_nwords << " words)!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1035	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1036	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1037
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1038	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1039	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1040	data.nwords = 8;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1041	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	1042
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1043	// read first 8 SII words
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1044	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1045	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1046	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	1047	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1048	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1049
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1050	// 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	1051	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	1052
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1053	// 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	1054	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	1055
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1056	// 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	1057	(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	1058
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1059	// write first 8 words with new alias and checksum
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1060	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1061	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1062	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	1063	throw MasterException(err.str());
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	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1067	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	1068
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1069	/*****************************************************************************/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1070
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1071	/** Lists the complete bus configuration.
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1072	*/
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1073	void Master::showDetailedConfigs()
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1074	{
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1075	ec_ioctl_master_t master;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1076	unsigned int i, j, k, l;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1077	ec_ioctl_config_t config;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1078	ec_ioctl_config_pdo_t pdo;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1079	ec_ioctl_config_pdo_entry_t entry;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1080	ec_ioctl_config_sdo_t sdo;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1081
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1082	open(Read);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1083	getMaster(&master);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1084
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1085	for (i = 0; i < master.config_count; i++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1086	getConfig(&config, i);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1087
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1088	cout << "Alias: "
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1089	<< dec << config.alias << endl
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1090	<< "Position: " << config.position << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1091	<< "Vendor Id: 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1092	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1093	<< setw(8) << config.vendor_id << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1094	<< "Product code: 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1095	<< setw(8) << config.product_code << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1096	<< "Attached: " << (config.attached ? "yes" : "no") << endl
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1097	<< "Operational: " << (config.operational ? "yes" : "no") << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1098
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	1099	for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1100	if (config.syncs[j].pdo_count) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1101	cout << "SM" << dec << j << " ("
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1102	<< (config.syncs[j].dir == EC_DIR_INPUT
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1103	? "Input" : "Output") << ")" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1104	for (k = 0; k < config.syncs[j].pdo_count; k++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1105	getConfigPdo(&pdo, i, j, k);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1106
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1107	cout << " Pdo 0x" << hex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1108	<< setw(4) << pdo.index
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1109	<< " \"" << pdo.name << "\"" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1110
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1111	for (l = 0; l < pdo.entry_count; l++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1112	getConfigPdoEntry(&entry, i, j, k, l);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1113
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1114	cout << " Pdo entry 0x" << hex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1115	<< setw(4) << entry.index << ":"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1116	<< setw(2) << (unsigned int) entry.subindex
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1117	<< ", " << dec << (unsigned int) entry.bit_length
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1118	<< " bit, \"" << entry.name << "\"" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1119	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1120	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1121	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1122	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1123
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1124	if (config.sdo_count) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1125	cout << "Sdo configuration:" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1126	for (j = 0; j < config.sdo_count; j++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1127	getConfigSdo(&sdo, i, j);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1128
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1129	cout << " 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1130	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1131	<< setw(4) << sdo.index << ":"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1132	<< setw(2) << (unsigned int) sdo.subindex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1133	<< ", " << dec << sdo.size << " byte: " << hex;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1134
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1135	switch (sdo.size) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1136	case 1:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1137	cout << "0x" << setw(2)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1138	<< (unsigned int) (uint8_t ) &sdo.data;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1139	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1140	case 2:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1141	cout << "0x" << setw(4)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1142	<< le16tocpu((uint16_t ) &sdo.data);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1143	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1144	case 4:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1145	cout << "0x" << setw(8)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1146	<< le32tocpu((uint32_t ) &sdo.data);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1147	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1148	default:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1149	cout << "???";
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1150	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1151
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1152	cout << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1153	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1154	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1155
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1156	cout << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1157	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1158	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1159
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1160	/*****************************************************************************/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1161
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1162	struct ConfigInfo {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1163	string alias;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1164	string pos;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1165	string ident;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1166	string att;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1167	string op;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1168	};
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1169
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1170	/** Lists the bus configuration.
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1171	*/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1172	void Master::listConfigs()
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1173	{
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1174	ec_ioctl_master_t master;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1175	unsigned int i;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1176	ec_ioctl_config_t config;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1177	stringstream str;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1178	ConfigInfo info;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1179	typedef list<ConfigInfo> ConfigInfoList;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1180	ConfigInfoList list;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1181	ConfigInfoList::const_iterator iter;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1182	unsigned int maxAliasWidth = 0, maxPosWidth = 0,
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1183	maxAttWidth = 0, maxOpWidth = 0;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1184
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1185	open(Read);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1186	getMaster(&master);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1187
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1188	for (i = 0; i < master.config_count; i++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1189	getConfig(&config, i);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1190
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1191	str << dec << config.alias;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1192	info.alias = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1193	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1194	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1195
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1196	str << config.position;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1197	info.pos = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1198	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1199	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1200
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1201	str << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1202	<< "0x" << setw(8) << config.vendor_id
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1203	<< "/0x" << setw(8) << config.product_code;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1204	info.ident = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1205	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1206	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1207
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1208	str << (config.attached ? "attached" : "-");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1209	info.att = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1210	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1211	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1212
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1213	str << (config.operational ? "operational" : "-");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1214	info.op = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1215	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1216	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1217
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1218	list.push_back(info);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1219
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1220	if (info.alias.length() > maxAliasWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1221	maxAliasWidth = info.alias.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1222	if (info.pos.length() > maxPosWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1223	maxPosWidth = info.pos.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1224	if (info.att.length() > maxAttWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1225	maxAttWidth = info.att.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1226	if (info.op.length() > maxOpWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1227	maxOpWidth = info.op.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1228	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1229
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1230	for (iter = list.begin(); iter != list.end(); iter++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1231	cout << setfill(' ') << right
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1232	<< setw(maxAliasWidth) << iter->alias
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1233	<< ":" << left
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1234	<< setw(maxPosWidth) << iter->pos
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1235	<< " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1236	<< iter->ident
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1237	<< " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1238	<< setw(maxAttWidth) << iter->att << " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1239	<< setw(maxOpWidth) << iter->op << " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1240	<< endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1241	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1242	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1243
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1244	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1245
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1246	void Master::outputDomainData(unsigned int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1247	{
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1248	ec_ioctl_domain_t domain;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1249	ec_ioctl_domain_data_t data;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1250	unsigned char *processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1251	unsigned int i;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1252
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1253	getDomain(&domain, domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1254
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1255	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1256	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1257
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1258	processData = new unsigned char[domain.data_size];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1259
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1260	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1261	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	1262	} catch (MasterException &e) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1263	delete [] processData;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1264	throw e;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1265	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1266
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1267	for (i = 0; i < data.data_size; i++)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1268	cout << processData[i];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1269	cout.flush();
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1270
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1271	delete [] processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1272	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1273
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1274	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1275
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1276	void Master::showDomain(unsigned int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1277	{
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1278	ec_ioctl_domain_t domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1279	unsigned char *processData;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1280	ec_ioctl_domain_data_t data;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1281	unsigned int i, j;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1282	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	1283	unsigned int dataOffset;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1284
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1285	getDomain(&domain, domainIndex);
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1286
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1287	cout << "Domain" << dec << domainIndex << ":"
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1288	<< " LogBaseAddr 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1289	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1290	<< setw(8) << domain.logical_base_address
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1291	<< ", Size " << dec << setfill(' ')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1292	<< setw(3) << domain.data_size
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1293	<< ", WorkingCounter "
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1294	<< domain.working_counter << "/"
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1295	<< 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	1296
1100 af0b187de6ef Show domain data only if verbose. Florian Pose <fp@igh-essen.com> parents: 1099 diff changeset	1297	if (!domain.data_size \|\| verbosity != Verbose)
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1298	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1299
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1300	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	1301
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1302	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1303	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	1304	} catch (MasterException &e) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1305	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1306	throw e;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1307	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1308
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1309	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	1310	getFmmu(&fmmu, domainIndex, i);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1311
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1312	cout << " SlaveConfig "
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1313	<< dec << fmmu.slave_config_alias
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1314	<< ":" << fmmu.slave_config_position
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1315	<< ", SM" << (unsigned int) fmmu.sync_index << " ("
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1316	<< setfill(' ') << setw(6)
1062 75a2b2934e2b Show sync manager index in 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	1317	<< (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1318	<< "), LogAddr 0x"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1319	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1320	<< setw(8) << fmmu.logical_address
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1321	<< ", 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	1322
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1323	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	1324	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	1325	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1326	err << "Fmmu information corrupted!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1327	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1328	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1329	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1330
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1331	cout << " " << hex << setfill('0');
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1332	for (j = 0; j < fmmu.data_size; j++) {
1101 f8d13814af03 Break domain output data after 16 bytes. Florian Pose <fp@igh-essen.com> parents: 1100 diff changeset	1333	if (j && !(j % BreakAfterBytes))
f8d13814af03 Break domain output data after 16 bytes. Florian Pose <fp@igh-essen.com> parents: 1100 diff changeset	1334	cout << endl << " ";
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1335	cout << setw(2)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1336	<< (unsigned int) *(processData + dataOffset + j) << " ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1337	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1338	cout << endl;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1339	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1340
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1341	delete [] processData;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1342	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1343
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1344	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1345
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1346	void Master::listSlavePdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1347	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1348	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1349	)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1350	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1351	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1352	ec_ioctl_slave_sync_t sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1353	ec_ioctl_slave_sync_pdo_t pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1354	ec_ioctl_slave_sync_pdo_entry_t entry;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1355	unsigned int i, j, k;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1356
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1357	getSlave(&slave, slavePosition);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1358
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1359	if (withHeader)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1360	cout << "=== Slave " << slavePosition << " ===" << endl;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1361
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1362	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	1363	getSync(&sync, slavePosition, i);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1364
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1365	cout << "SM" << i << ":"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1366	<< " PhysAddr 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1367	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1368	<< setw(4) << sync.physical_start_address
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1369	<< ", DefaultSize "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1370	<< dec << setfill(' ') << setw(4) << sync.default_size
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1371	<< ", ControlRegister 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1372	<< hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1373	<< (unsigned int) sync.control_register
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1374	<< ", Enable " << dec << (unsigned int) sync.enable
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1375	<< endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1376
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1377	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	1378	getPdo(&pdo, slavePosition, i, j);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1379
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1380	cout << " " << (sync.control_register & 0x04 ? "R" : "T")
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1381	<< "xPdo 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1382	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1383	<< setw(4) << pdo.index
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1384	<< " \"" << pdo.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1385
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1386	if (verbosity == Quiet)
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1387	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1388
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1389	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	1390	getPdoEntry(&entry, slavePosition, i, j, k);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1391
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1392	cout << " Pdo entry 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1393	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1394	<< setw(4) << entry.index
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1395	<< ":" << setw(2) << (unsigned int) entry.subindex
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1396	<< ", " << dec << (unsigned int) entry.bit_length
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1397	<< " bit, \"" << entry.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1398	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1399	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1400	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1401	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1402
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1403	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1404
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1405	void Master::listSlaveSdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1406	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1407	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1408	)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1409	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1410	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1411	ec_ioctl_slave_sdo_t sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1412	ec_ioctl_slave_sdo_entry_t entry;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1413	unsigned int i, j;
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1414	const CoEDataType *d;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1415
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1416	getSlave(&slave, slavePosition);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1417
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1418	if (withHeader)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1419	cout << "=== Slave " << slavePosition << " ===" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1420
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1421	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	1422	getSdo(&sdo, slavePosition, i);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1423
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1424	cout << "Sdo 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1425	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1426	<< setw(4) << sdo.sdo_index
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1427	<< ", \"" << sdo.name << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1428
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1429	if (verbosity == Quiet)
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1430	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1431
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1432	for (j = 0; j <= sdo.max_subindex; j++) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1433	getSdoEntry(&entry, slavePosition, -i, j);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1434
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1435	cout << " 0x" << hex << setfill('0')
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1436	<< setw(4) << sdo.sdo_index << ":"
983 efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1437	<< 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	1438	<< ", ";
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1439
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1440	if ((d = findDataType(entry.data_type))) {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1441	cout << d->name;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1442	} else {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1443	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	1444	}
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1445
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1446	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	1447	<< entry.description << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1448	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1449	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1450	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1451
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1452	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1453
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1454	struct SlaveInfo {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1455	string pos;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1456	string alias;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1457	string relPos;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1458	string state;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1459	string flag;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1460	string name;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1461	};
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1462
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1463	void Master::listSlaves(int slavePosition)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1464	{
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1465	unsigned int numSlaves, i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1466	ec_ioctl_slave_t slave;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1467	uint16_t lastAlias, aliasIndex;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1468	SlaveInfo slaveInfo;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1469	typedef list<SlaveInfo> SlaveInfoList;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1470	SlaveInfoList slaveInfoList;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1471	SlaveInfoList::const_iterator iter;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1472	stringstream str;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1473	unsigned int maxPosWidth = 0, maxAliasWidth = 0,
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1474	maxRelPosWidth = 0, maxStateWidth = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1475
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1476	open(Read);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1477
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1478	numSlaves = slaveCount();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1479
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1480	lastAlias = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1481	aliasIndex = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1482	for (i = 0; i < numSlaves; i++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1483	getSlave(&slave, i);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1484
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1485	if (slave.alias) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1486	lastAlias = slave.alias;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1487	aliasIndex = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1488	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1489
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1490	if (slavePosition == -1 \|\| i == (unsigned int) slavePosition) {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1491	str << dec << i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1492	slaveInfo.pos = str.str();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1493	str.clear();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1494	str.str("");
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1495
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1496	str << lastAlias;
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1497	slaveInfo.alias = str.str();
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1498	str.str("");
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1499
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1500	str << aliasIndex;
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1501	slaveInfo.relPos = str.str();
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1502	str.str("");
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1503
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1504	slaveInfo.state = slaveState(slave.state);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1505	slaveInfo.flag = (slave.error_flag ? 'E' : '+');
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1506
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1507	if (strlen(slave.name)) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1508	slaveInfo.name = slave.name;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1509	} else {
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1510	str << "0x" << hex << setfill('0')
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1511	<< setw(8) << slave.vendor_id << ":0x"
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1512	<< setw(8) << slave.product_code;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1513	slaveInfo.name = str.str();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1514	str.str("");
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1515	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1516
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1517
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1518	slaveInfoList.push_back(slaveInfo);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1519
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1520	if (slaveInfo.pos.length() > maxPosWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1521	maxPosWidth = slaveInfo.pos.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1522	if (slaveInfo.alias.length() > maxAliasWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1523	maxAliasWidth = slaveInfo.alias.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1524	if (slaveInfo.relPos.length() > maxRelPosWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1525	maxRelPosWidth = slaveInfo.relPos.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1526	if (slaveInfo.state.length() > maxStateWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1527	maxStateWidth = slaveInfo.state.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1528	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1529
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1530	aliasIndex++;
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1531	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1532
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1533	for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1534	cout << setfill(' ') << right
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1535	<< setw(maxPosWidth) << iter->pos << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1536	<< setw(maxAliasWidth) << iter->alias
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1537	<< ":" << left
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1538	<< setw(maxRelPosWidth) << iter->relPos << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1539	<< setw(maxStateWidth) << iter->state << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1540	<< iter->flag << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1541	<< iter->name << endl;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1542	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1543	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1544
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1545	/****************************************************************************/
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1546
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1547	void Master::showSlave(uint16_t slavePosition)
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1548	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1549	ec_ioctl_slave_t slave;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1550	list<string> protoList;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1551	list<string>::const_iterator protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1552
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1553	getSlave(&slave, slavePosition);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1554
1069 ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1555	cout << "=== Slave " << dec << slavePosition << " ===" << endl;
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1556
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1557	if (slave.alias)
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1558	cout << "Alias: " << slave.alias << endl;
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1559
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1560	cout
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1561	<< "State: " << slaveState(slave.state) << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1562	<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1563	<< "Identity:" << endl
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1564	<< " Vendor Id: 0x"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1565	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1566	<< setw(8) << slave.vendor_id << endl
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1567	<< " Product code: 0x"
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1568	<< setw(8) << slave.product_code << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1569	<< " Revision number: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1570	<< setw(8) << slave.revision_number << endl
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1571	<< " Serial number: 0x"
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1572	<< setw(8) << slave.serial_number << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1573
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1574	if (slave.mailbox_protocols) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1575	cout << "Mailboxes:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1576	<< " RX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1577	<< hex << setw(4) << slave.rx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1578	<< dec << slave.rx_mailbox_size
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1579	<< ", TX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1580	<< hex << setw(4) << slave.tx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1581	<< dec << slave.tx_mailbox_size << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1582	<< " Supported protocols: ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1583
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1584	if (slave.mailbox_protocols & EC_MBOX_AOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1585	protoList.push_back("AoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1586	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1587	if (slave.mailbox_protocols & EC_MBOX_EOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1588	protoList.push_back("EoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1589	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1590	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1591	protoList.push_back("CoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1592	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1593	if (slave.mailbox_protocols & EC_MBOX_FOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1594	protoList.push_back("FoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1595	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1596	if (slave.mailbox_protocols & EC_MBOX_SOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1597	protoList.push_back("SoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1598	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1599	if (slave.mailbox_protocols & EC_MBOX_VOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1600	protoList.push_back("VoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1601	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1602
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1603	for (protoIter = protoList.begin(); protoIter != protoList.end();
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1604	protoIter++) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1605	if (protoIter != protoList.begin())
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1606	cout << ", ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1607	cout << *protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1608	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1609	cout << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1610	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1611
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1612	if (slave.has_general_category) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1613	cout << "General:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1614	<< " Name: " << slave.name << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1615
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1616	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1617	cout << " CoE details:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1618	<< " Enable Sdo: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1619	<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1620	<< " Enable Sdo Info: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1621	<< (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	1622	<< " Enable Pdo Assign: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1623	<< (slave.coe_details.enable_pdo_assign
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1624	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1625	<< " Enable Pdo Configuration: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1626	<< (slave.coe_details.enable_pdo_configuration
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1627	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1628	<< " Enable Upload at startup: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1629	<< (slave.coe_details.enable_upload_at_startup
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1630	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1631	<< " Enable Sdo complete access: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1632	<< (slave.coe_details.enable_sdo_complete_access
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1633	? "yes" : "no") << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1634	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1635
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1636	cout << " Flags:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1637	<< " Enable SafeOp: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1638	<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1639	<< " Enable notLRW: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1640	<< (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	1641	<< " Current consumption: "
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1642	<< dec << slave.current_on_ebus << " mA" << endl;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1643	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1644	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1645
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1646	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1647
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1648	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	1649	{
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1650	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1651	ec_ioctl_slave_sync_t sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1652	ec_ioctl_slave_sync_pdo_t pdo;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1653	string pdoType;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1654	ec_ioctl_slave_sync_pdo_entry_t entry;
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1655	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	1656
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1657	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	1658
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1659	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1660	<< "<?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	1661	<< " <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	1662	<< " <!-- 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	1663	<< " <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	1664	<< " <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	1665	<< " </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	1666	<< " <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	1667	<< " <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	1668	<< " <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	1669	<< " <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	1670	<< 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	1671	<< "\" 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	1672	<< 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	1673	<< "\"/>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1674
1073 f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1675	if (strlen(slave.name)) {
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1676	cout
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1677	<< " <Name><![CDATA["
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1678	<< slave.name
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1679	<< "]]></Name>" << endl;
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1680	}
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1681
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1682	for (i = 0; i < slave.sync_count; i++) {
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1683	getSync(&sync, slavePosition, i);
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1684
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1685	cout
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1686	<< " <Sm Enable=\"" << dec << (unsigned int) sync.enable
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1687	<< "\" StartAddress=\"" << sync.physical_start_address
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1688	<< "\" ControlByte=\"" << (unsigned int) sync.control_register
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1689	<< "\" DefaultSize=\"" << sync.default_size
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1690	<< "\" />" << endl;
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1691	}
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1692
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1693	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	1694	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	1695
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1696	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	1697	getPdo(&pdo, slavePosition, i, j);
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1698	pdoType = (sync.control_register & 0x04 ? "R" : "T");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1699	pdoType += "xPdo";
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1700
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1701	cout
1071 82122748f4e0 Added Fixed="1" to Pdo element. Florian Pose <fp@igh-essen.com> parents: 1070 diff changeset	1702	<< " <" << pdoType
82122748f4e0 Added Fixed="1" to Pdo element. Florian Pose <fp@igh-essen.com> parents: 1070 diff changeset	1703	<< " Sm=\"" << i << "\" Fixed=\"1\">" << endl
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1704	<< " <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	1705	<< 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	1706	<< "</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	1707	<< " <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	1708
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1709	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	1710	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	1711
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1712	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1713	<< " <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	1714	<< " <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	1715	<< 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	1716	<< "</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	1717	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	1718	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1719	<< " <SubIndex>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1720	<< 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	1721	<< "</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	1722
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1723	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1724	<< " <BitLen>"
1030 d7970e934dba Bugfix: Bitlength always decimal in XML. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	1725	<< dec << (unsigned int) entry.bit_length
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1726	<< "</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	1727
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1728	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	1729	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1730	<< " <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	1731	<< "</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	1732	<< " <DataType>";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1733
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1734	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	1735	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	1736	} 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	1737	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	1738	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	1739	else
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1740	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	1741	<< (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	1742	<< ")";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1743	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1744	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	1745	<< (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	1746	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1747
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1748	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	1749	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1750
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1751	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	1752	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1753
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1754	cout
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1755	<< " </" << pdoType << ">" << endl;
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1756	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1757	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1758
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1759	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1760	<< " </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	1761	<< " </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	1762	<< " </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	1763	<< "</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	1764	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1765
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1766	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1767
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1768	unsigned int Master::slaveCount()
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1769	{
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1770	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	1771
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1772	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1773	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	1774	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1775
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1776	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1777
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1778	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	1779	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1780	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	1781	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1782	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	1783	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	1784	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1785	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1786
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1787	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1788
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1789	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	1790	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1791	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1792
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1793	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1794	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1795	err << "Failed to get slave configuration: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1796	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1797	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1798	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1799
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1800	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1801
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1802	void Master::getConfigPdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1803	ec_ioctl_config_pdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1804	unsigned int index,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1805	uint8_t sync_index,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1806	uint16_t pdo_pos
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1807	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1808	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1809	data->config_index = index;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1810	data->sync_index = sync_index;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1811	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1812
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1813	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	1814	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1815	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	1816	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1817	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1818	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1819
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1820	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1821
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1822	void Master::getConfigPdoEntry(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1823	ec_ioctl_config_pdo_entry_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1824	unsigned int index,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1825	uint8_t sync_index,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1826	uint16_t pdo_pos,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1827	uint8_t entry_pos
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1828	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1829	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1830	data->config_index = index;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1831	data->sync_index = sync_index;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1832	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1833	data->entry_pos = entry_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1834
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1835	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	1836	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1837	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	1838	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1839	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1840	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1841
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1842	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1843
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1844	void Master::getConfigSdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1845	ec_ioctl_config_sdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1846	unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1847	unsigned int sdo_pos
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1848	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1849	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1850	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1851	data->sdo_pos = sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1852
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1853	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	1854	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1855	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	1856	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1857	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1858	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1859
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1860	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1861
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1862	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	1863	{
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1864	data->index = index;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1865
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1866	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1867	stringstream err;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1868	err << "Failed to get domain: ";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1869	if (errno == EINVAL)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1870	err << "Domain " << index << " does not exist!";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1871	else
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1872	err << strerror(errno);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1873	throw MasterException(err.str());
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1874	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1875	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1876
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1877	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1878
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1879	void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1880	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	1881	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1882	data->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1883	data->data_size = dataSize;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1884	data->target = mem;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1885
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1886	if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1887	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1888	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	1889	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1890	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1891	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1892
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1893	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1894
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1895	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	1896	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1897	slave->position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1898
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1899	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1900	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1901	err << "Failed to get slave: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1902	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1903	err << "Slave " << slaveIndex << " does not exist!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1904	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1905	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1906	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1907	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1908	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1909
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1910	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1911
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1912	void Master::getFmmu(
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1913	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	1914	unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1915	unsigned int fmmuIndex
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1916	)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1917	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1918	fmmu->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1919	fmmu->fmmu_index = fmmuIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1920
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1921	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	1922	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1923	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	1924	if (errno == EINVAL)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1925	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	1926	<< "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	1927	<< " FMMus!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1928	else
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1929	err << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1930	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1931	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1932	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1933
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1934	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1935
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1936	void Master::getSync(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1937	ec_ioctl_slave_sync_t *sync,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1938	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1939	uint8_t syncIndex
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1940	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1941	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1942	sync->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1943	sync->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1944
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1945	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1946	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1947	err << "Failed to get sync manager: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1948	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1949	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	1950	<< "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	1951	<< " sync managers!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1952	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1953	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1954	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1955	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1956	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1957
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1958	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1959
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1960	void Master::getPdo(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1961	ec_ioctl_slave_sync_pdo_t *pdo,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1962	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1963	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1964	uint8_t pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1965	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1966	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1967	pdo->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1968	pdo->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1969	pdo->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1970
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1971	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1972	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1973	err << "Failed to get Pdo: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1974	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1975	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	1976	<< "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	1977	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1978	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1979	<< pdoPos + 1 << " Pdos!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1980	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1981	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1982	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1983	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1984	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1985
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1986	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1987
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1988	void Master::getPdoEntry(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1989	ec_ioctl_slave_sync_pdo_entry_t *entry,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1990	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1991	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1992	uint8_t pdoPos,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1993	uint8_t entryPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1994	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1995	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1996	entry->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1997	entry->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1998	entry->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1999	entry->entry_pos = entryPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2000
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2001	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2002	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2003	err << "Failed to get Pdo entry: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2004	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2005	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	2006	<< "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	2007	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2008	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2009	<< 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	2010	<< " contains less than " << (unsigned int) entryPos + 1
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2011	<< " entries!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2012	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2013	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2014	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2015	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2016	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2017
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2018	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2019
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2020	void Master::getSdo(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2021	ec_ioctl_slave_sdo_t *sdo,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2022	uint16_t slaveIndex,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2023	uint16_t sdoPosition
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2024	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2025	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2026	sdo->slave_position = slaveIndex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2027	sdo->sdo_position = sdoPosition;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2028
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2029	if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2030	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2031	err << "Failed to get Sdo: ";
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2032	if (errno == EINVAL)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2033	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	2034	<< "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	2035	<< endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2036	else
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2037	err << strerror(errno);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2038	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2039	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2040	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2041
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2042	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2043
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2044	void Master::getSdoEntry(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2045	ec_ioctl_slave_sdo_entry_t *entry,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2046	uint16_t slaveIndex,
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2047	int sdoSpec,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2048	uint8_t entrySubindex
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2049	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2050	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2051	entry->slave_position = slaveIndex;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2052	entry->sdo_spec = sdoSpec;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2053	entry->sdo_entry_subindex = entrySubindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2054
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	2055	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2056	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2057	err << "Failed to get Sdo entry: ";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2058	err << strerror(errno);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2059	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2060	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2061	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2062
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2063	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	2064
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2065	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	2066	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	2067	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	2068	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2069	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2070	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	2071
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2072	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	2073	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	2074
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2075	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	2076	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2077	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	2078	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	2079	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	2080	else
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2081	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	2082	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	2083	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2084	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2085
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2086	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	2087
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	2088	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	2089	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2090	switch (state) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2091	case 1: return "INIT";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2092	case 2: return "PREOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2093	case 4: return "SAFEOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2094	case 8: return "OP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2095	default: return "???";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2096	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2097	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2098
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2099	/****************************************************************************/
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2100
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2101	void Master::printRawData(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2102	const uint8_t *data,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2103	unsigned int size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2104	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2105	cout << hex << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2106	while (size--) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2107	cout << "0x" << setw(2) << (unsigned int) *data++;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2108	if (size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2109	cout << " ";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2110	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2111	cout << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2112	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2113
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2114	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2115
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2116	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2117	* 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	2118	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2119	* 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	2120	* 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	2121	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2122	* 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	2123	* 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	2124	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2125	* ./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	2126	* --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	2127	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2128	* \return CRC8
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2129	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2130	uint8_t Master::calcSiiCrc(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2131	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	2132	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	2133	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2134	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2135	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2136	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	2137
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2138	while (length--) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2139	byte = *data++;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2140	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	2141	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2142	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	2143	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2144	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2145	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2146
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2147	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	2148	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2149	crc <<= 1;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2150	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2151	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2152
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2153	return crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2154	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2155
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2156	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 07 Jul 2008 09:02:19 +0000
changeset 1103	b6998e916d5a
parent 1102	5461894b05ab
child 1105	3552b4c46f10
permissions	-rw-r--r--