1

/*****************************************************************************

     2

 *

     3

 * $Id$

     4

 *

     5

 ****************************************************************************/

     6

     7

#include <list>

     8

#include <iostream>

     9

#include <iomanip>

    10

#include <sstream>

    11

using namespace std;

    12

    13

#include "CommandConfig.h"

    14

    15

/*****************************************************************************/

    16

    17

CommandConfig::CommandConfig():

    18

    Command("config", "Show slave configurations.")

    19

{

    20

}

    21

    22

/*****************************************************************************/

    23

    24

string CommandConfig::helpString() const

    25

{

    26

    stringstream str;

    27

    28

    str << getName() << " [OPTIONS]" << endl

    29

    	<< endl

    30

    	<< getBriefDescription() << endl

    31

    	<< endl

    32

    	<< "Without the --verbose option, slave configurations are" << endl

    33

    	<< "output one-per-line. Example:" << endl

    34

    	<< endl

    35

    	<< "1001:0  0x0000003b/0x02010000  3  OP" << endl

    36

    	<< "|       |                      |  |" << endl

    37

    	<< "|       |                      |  \\- Application-layer" << endl

    38

    	<< "|       |                      |     state of the attached" << endl

    39

    	<< "|       |                      |     slave, or '-', if no" << endl

    40

    	<< "|       |                      |     slave is attached." << endl

    41

    	<< "|       |                      \\- Absolute decimal ring" << endl

    42

    	<< "|       |                         position of the attached" << endl

    43

    	<< "|       |                         slave, or '-' if none" << endl

    44

    	<< "|       |                         attached." << endl

    45

    	<< "|       \\- Expected vendor ID and product code (both" << endl

    46

    	<< "|          hexadecimal)." << endl

    47

    	<< "\\- Alias address and relative position (both decimal)." << endl

    48

    	<< endl

    49

    	<< "With the --verbose option given, the configured Pdos and" << endl

    50

    	<< "Sdos are output in addition." << endl

    51

        << endl

    52

        << "Configuration selection:" << endl

    53

        << "  Slave configurations can be selected with" << endl

    54

        << "  the --alias and --position parameters as follows:" << endl

    55

        << endl

    56

        << "  1) If neither the --alias nor the --position option" << endl

    57

        << "     is given, all slave configurations are displayed." << endl

    58

        << "  2) If only the --position option is given, an alias" << endl

    59

        << "     of zero is assumed (see 4))." << endl

    60

        << "  3) If only the --alias option is given, all slave" << endl

    61

        << "     configurations with the given alias address" << endl

    62

        << "     are displayed." << endl

    63

        << "  4) If both the --alias and the --position option are" << endl

    64

        << "     given, the selection can match a single" << endl

    65

        << "     configuration, that is displayed, if it exists." << endl

    66

    	<< endl

    67

    	<< "Command-specific options:" << endl

    68

        << "  --alias    -a <alias>  Configuration alias (see above)." << endl

    69

        << "  --position -p <pos>    Relative position (see above)." << endl

    70

    	<< "  --verbose  -v          Show detailed configurations." << endl

    71

        << endl

    72

        << numericInfo();

    73

    74

	return str.str();

    75

}

    76

    77

/*****************************************************************************/

    78

    79

/** Lists the bus configuration.

    80

 */

    81

void CommandConfig::execute(MasterDevice &m, const StringVector &args)

    82

{

    83

    ConfigList configs;

    84

    85

    m.open(MasterDevice::Read);

    86

    configs = selectedConfigs(m);

    87

    88

    if (getVerbosity() == Verbose) {

    89

        showDetailedConfigs(m, configs);

    90

    } else {

    91

        listConfigs(m, configs);

    92

    }

    93

}

    94

    95

/*****************************************************************************/

    96

    97

/** Lists the complete bus configuration.

    98

 */

    99

void CommandConfig::showDetailedConfigs(

   100

		MasterDevice &m,

   101

		const ConfigList &configList

   102

		)

   103

{

   104

    ConfigList::const_iterator configIter;

   105

    unsigned int j, k, l;

   106

    ec_ioctl_slave_t slave;

   107

    ec_ioctl_config_pdo_t pdo;

   108

    ec_ioctl_config_pdo_entry_t entry;

   109

    ec_ioctl_config_sdo_t sdo;

   110

   111

    for (configIter = configList.begin();

   112

            configIter != configList.end();

   113

            configIter++) {

   114

   115

        cout << "Alias: "

   116

            << dec << configIter->alias << endl

   117

            << "Position: " << configIter->position << endl

   118

            << "Vendor Id: 0x"

   119

            << hex << setfill('0')

   120

            << setw(8) << configIter->vendor_id << endl

   121

            << "Product code: 0x"

   122

            << setw(8) << configIter->product_code << endl

   123

            << "Attached slave: ";

   124

   125

        if (configIter->slave_position != -1) {

   126

            m.getSlave(&slave, configIter->slave_position);

   127

            cout << dec << configIter->slave_position

   128

                << " (" << alStateString(slave.al_state) << ")" << endl;

   129

        } else {

   130

            cout << "none" << endl;

   131

        }

   132

   133

        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {

   134

            if (configIter->syncs[j].pdo_count) {

   135

                cout << "SM" << dec << j << " ("

   136

                    << (configIter->syncs[j].dir == EC_DIR_INPUT

   137

                            ? "Input" : "Output") << ")" << endl;

   138

                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {

   139

                    m.getConfigPdo(&pdo, configIter->config_index, j, k);

   140

   141

                    cout << "  Pdo 0x" << hex << setw(4) << pdo.index << endl;

   142

   143

                    for (l = 0; l < pdo.entry_count; l++) {

   144

                        m.getConfigPdoEntry(&entry,

   145

                                configIter->config_index, j, k, l);

   146

   147

                        cout << "    Pdo entry 0x" << hex << setfill('0')

   148

                            << setw(4) << entry.index << ":"

   149

                            << setw(2) << (unsigned int) entry.subindex

   150

                            << ", " << dec << setfill(' ')

   151

                            << setw(2) << (unsigned int) entry.bit_length

   152

                            << " bit" << endl;

   153

                    }

   154

                }

   155

            }

   156

        }

   157

   158

        cout << "Sdo configuration:" << endl;

   159

        if (configIter->sdo_count) {

   160

            for (j = 0; j < configIter->sdo_count; j++) {

   161

                m.getConfigSdo(&sdo, configIter->config_index, j);

   162

   163

                cout << "  0x"

   164

                    << hex << setfill('0')

   165

                    << setw(4) << sdo.index << ":"

   166

                    << setw(2) << (unsigned int) sdo.subindex

   167

                    << ", " << dec << sdo.size << " byte: " << hex;

   168

   169

                switch (sdo.size) {

   170

                    case 1:

   171

                        cout << "0x" << setw(2)

   172

                            << (unsigned int) *(uint8_t *) &sdo.data;

   173

                        break;

   174

                    case 2:

   175

                        cout << "0x" << setw(4)

   177

                        break;

   178

                    case 4:

   179

                        cout << "0x" << setw(8)

   181

                        break;

   182

                    default:

   183

                        cout << "???";

   184

                }

   185

   186

                cout << endl;

   187

            }

   188

        } else {

   189

            cout << "  None." << endl;

   190

        }

   191

   192

        cout << endl;

   193

    }

   194

}

   195

   196

/*****************************************************************************/

   197

   198

/** Lists the bus configuration.

   199

 */

   200

void CommandConfig::listConfigs(

   201

        MasterDevice &m,

   202

        const ConfigList &configList

   203

        )

   204

{

   205

    ConfigList::const_iterator configIter;

   206

    stringstream str;

   207

    Info info;

   208

    typedef list<Info> InfoList;

   209

    InfoList list;

   210

    InfoList::const_iterator iter;

   211

    unsigned int maxAliasWidth = 0, maxPosWidth = 0,

   212

                 maxSlavePosWidth = 0, maxStateWidth = 0;

   213

    ec_ioctl_slave_t slave;

   214

   215

    for (configIter = configList.begin();

   216

            configIter != configList.end();

   217

            configIter++) {

   218

   219

        str << dec << configIter->alias;

   220

        info.alias = str.str();

   221

        str.clear();

   222

        str.str("");

   223

   224

        str << configIter->position;

   225

        info.pos = str.str();

   226

        str.clear();

   227

        str.str("");

   228

   229

        str << hex << setfill('0')

   230

            << "0x" << setw(8) << configIter->vendor_id

   231

            << "/0x" << setw(8) << configIter->product_code;

   232

        info.ident = str.str();

   233

        str.clear();

   234

        str.str("");

   235

   236

        if (configIter->slave_position != -1) {

   237

            m.getSlave(&slave, configIter->slave_position);

   238

   239

            str << dec << configIter->slave_position;

   240

            info.slavePos = str.str();

   241

            str.clear();

   242

            str.str("");

   243

   244

            str << alStateString(slave.al_state);

   245

            info.state = str.str();

   246

            str.clear();

   247

            str.str("");

   248

        } else {

   249

            str << "-";

   250

            info.slavePos = str.str();

   251

            str.clear();

   252

            str.str("");

   253

   254

            str << "-";

   255

            info.state = str.str();

   256

            str.clear();

   257

            str.str("");

   258

        }

   259

   260

        list.push_back(info);

   261

   262

        if (info.alias.length() > maxAliasWidth)

   263

            maxAliasWidth = info.alias.length();

   264

        if (info.pos.length() > maxPosWidth)

   265

            maxPosWidth = info.pos.length();

   266

        if (info.slavePos.length() > maxSlavePosWidth)

   267

            maxSlavePosWidth = info.slavePos.length();

   268

        if (info.state.length() > maxStateWidth)

   269

            maxStateWidth = info.state.length();

   270

    }

   271

   272

    for (iter = list.begin(); iter != list.end(); iter++) {

   273

        cout << setfill(' ') << right

   274

            << setw(maxAliasWidth) << iter->alias

   275

            << ":" << left

   276

            << setw(maxPosWidth) << iter->pos

   277

            << "  "

   278

            << iter->ident

   279

            << "  "

   280

            << setw(maxSlavePosWidth) << iter->slavePos << "  "

   281

            << setw(maxStateWidth) << iter->state << "  "

   282

            << endl;

   283

    }

   284

}

   285

   286

/*****************************************************************************/