author | Florian Pose <fp@igh-essen.com> |
Fri, 30 Apr 2010 21:34:18 +0200 | |
changeset 1918 | c58633eed20b |
parent 1879 | 7539329b5cf6 |
child 1949 | bde584664aa2 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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* vim: expandtab |
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* |
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****************************************************************************/ |
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|
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#include <iostream> |
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#include <iomanip> |
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#include <string.h> |
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using namespace std; |
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|
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#include "CommandCStruct.h" |
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#include "MasterDevice.h" |
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/*****************************************************************************/ |
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|
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CommandCStruct::CommandCStruct(): |
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Command("cstruct", "Generate slave PDO information in C language.") |
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{ |
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} |
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|
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/*****************************************************************************/ |
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|
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string CommandCStruct::helpString() const |
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{ |
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stringstream str; |
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|
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str << getName() << " [OPTIONS]" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
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<< "The output C code can be used directly with the" << endl |
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<< "ecrt_slave_config_pdos() function of the application" << endl |
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<< "interface." << endl |
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<< endl |
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<< "Command-specific options:" << endl |
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<< " --alias -a <alias>" << endl |
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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<< " the 'slaves' command." << endl |
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<< endl |
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<< numericInfo(); |
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|
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return str.str(); |
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} |
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/****************************************************************************/ |
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|
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void CommandCStruct::execute(const StringVector &args) |
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{ |
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MasterIndexList masterIndices; |
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SlaveList slaves; |
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SlaveList::const_iterator si; |
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|
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if (args.size()) { |
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stringstream err; |
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err << "'" << getName() << "' takes no arguments!"; |
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throwInvalidUsageException(err); |
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} |
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masterIndices = getMasterIndices(); |
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MasterIndexList::const_iterator mi; |
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for (mi = masterIndices.begin(); |
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mi != masterIndices.end(); mi++) { |
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MasterDevice m(*mi); |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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|
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for (si = slaves.begin(); si != slaves.end(); si++) { |
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generateSlaveCStruct(m, *si); |
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} |
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} |
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} |
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|
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/****************************************************************************/ |
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|
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void CommandCStruct::generateSlaveCStruct( |
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MasterDevice &m, |
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const ec_ioctl_slave_t &slave |
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) |
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{ |
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ec_ioctl_slave_sync_t sync; |
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ec_ioctl_slave_sync_pdo_t pdo; |
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ec_ioctl_slave_sync_pdo_entry_t entry; |
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unsigned int i, j, k, pdo_pos = 0, entry_pos = 0; |
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stringstream id, syncs, pdos, entries; |
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|
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if (!slave.sync_count) |
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return; |
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id << "slave_" << dec << slave.position << "_"; |
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|
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for (i = 0; i < slave.sync_count; i++) { |
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changeset
|
118 |
m.getSync(&sync, slave.position, i); |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
119 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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|
120 |
syncs << " {" << dec << sync.sync_index |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
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|
121 |
<< ", " << (EC_READ_BIT(&sync.control_register, 2) ? |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
122 |
"EC_DIR_OUTPUT" : "EC_DIR_INPUT") |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
123 |
<< ", " << dec << (unsigned int) sync.pdo_count |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
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|
124 |
<< ", "; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
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|
125 |
if (sync.pdo_count) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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diff
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|
126 |
syncs << id.str() << "pdos + " << dec << pdo_pos; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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|
127 |
} else { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
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|
128 |
syncs << "NULL"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
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|
129 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
130 |
syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ? |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
131 |
"EC_WD_ENABLE" : "EC_WD_DISABLE") |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
132 |
<< "},"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
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|
133 |
syncs << endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
134 |
pdo_pos += sync.pdo_count; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
135 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
for (j = 0; j < sync.pdo_count; j++) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
137 |
m.getPdo(&pdo, slave.position, i, j); |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
138 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
pdos << " {0x" << hex << setfill('0') |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
140 |
<< setw(4) << pdo.index |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
141 |
<< ", " << dec << (unsigned int) pdo.entry_count |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
142 |
<< ", "; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
143 |
if (pdo.entry_count) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
144 |
pdos << id.str() << "pdo_entries + " << dec << entry_pos; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
} else { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
pdos << "NULL"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
147 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
148 |
pdos << "},"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
149 |
if (strlen((const char *) pdo.name)) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
150 |
pdos << " /* " << pdo.name << " */"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
151 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
pdos << endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
entry_pos += pdo.entry_count; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
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parents:
diff
changeset
|
154 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
for (k = 0; k < pdo.entry_count; k++) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
m.getPdoEntry(&entry, slave.position, i, j, k); |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
entries << " {0x" << hex << setfill('0') |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
<< setw(4) << entry.index |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
<< ", 0x" << setw(2) << (unsigned int) entry.subindex |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
<< ", " << dec << (unsigned int) entry.bit_length |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
<< "},"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
if (strlen((const char *) entry.name)) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
entries << " /* " << entry.name << " */"; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
entries << endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
cout |
1827
489be2180f71
Improved multi-master capabilities of ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
|
172 |
<< "/* Master " << m.getIndex() << ", Slave " << slave.position; |
1514
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
if (strlen(slave.order)) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
cout << ", \"" << slave.order << "\""; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
cout << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
<< " * Vendor ID: 0x" << hex << setfill('0') |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
<< setw(8) << slave.vendor_id << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
<< " * Product code: 0x" << hex << setfill('0') |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
<< setw(8) << slave.product_code << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
<< " * Revision number: 0x" << hex << setfill('0') |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
<< setw(8) << slave.revision_number << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
<< " */" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
<< endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
if (entry_pos) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
cout << "ec_pdo_entry_info_t " << id.str() |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
<< "pdo_entries[] = {" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
<< entries.str() |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
<< "};" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
<< endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
if (pdo_pos) { |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
<< pdos.str() |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
<< "};" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
<< endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
<< syncs.str() |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
<< "};" << endl |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
<< endl; |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
} |
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
|
85ac1c91045d
Added 'ethercat cstruct' command to output PDO information in C language.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
/*****************************************************************************/ |