author | Florian Pose <fp@igh-essen.com> |
Mon, 19 Mar 2012 10:43:09 +0100 | |
branch | redundancy |
changeset 2372 | d895cd1db2bf |
parent 1968 | 4f682084c643 |
child 2374 | e898451c054a |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
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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. |
1142 | 27 |
* |
28 |
****************************************************************************/ |
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29 |
||
30 |
#include <iostream> |
|
31 |
#include <iomanip> |
|
32 |
#include <list> |
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#include <string.h> |
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using namespace std; |
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36 |
#include "CommandSlaves.h" |
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#include "MasterDevice.h" |
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39 |
/*****************************************************************************/ |
|
40 |
||
41 |
CommandSlaves::CommandSlaves(): |
|
42 |
Command("slaves", "Display slaves on the bus.") |
|
43 |
{ |
|
44 |
} |
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45 |
||
46 |
/*****************************************************************************/ |
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47 |
||
1968
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string CommandSlaves::helpString(const string &binaryBaseName) const |
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{ |
50 |
stringstream str; |
|
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||
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str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl |
1142 | 53 |
<< endl |
54 |
<< getBriefDescription() << endl |
|
55 |
<< endl |
|
56 |
<< "If the --verbose option is not given, the slaves are" << endl |
|
57 |
<< "displayed one-per-line. Example:" << endl |
|
58 |
<< endl |
|
59 |
<< "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V" << endl |
|
60 |
<< "| | | | | |" << endl |
|
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<< "| | | | | \\- Name from the SII if avaliable," << endl |
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<< "| | | | | otherwise vendor ID and product" << endl |
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<< "| | | | | code (both hexadecimal)." << endl |
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<< "| | | | \\- Error flag. '+' means no error," << endl |
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<< "| | | | 'E' means that scan or" << endl |
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<< "| | | | configuration failed." << endl |
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<< "| | | \\- Current application-layer state." << endl |
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<< "| | \\- Decimal relative position to the last" << endl |
1142 | 69 |
<< "| | slave with an alias address set." << endl |
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<< "| \\- Decimal alias address of this slave (if set)," << endl |
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<< "| otherwise of the last slave with an alias set," << endl |
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<< "| or zero, if no alias was encountered up to this" << endl |
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<< "| position." << endl |
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<< "\\- Absolute ring position in the bus." << endl |
1142 | 75 |
<< endl |
76 |
<< "If the --verbose option is given, a detailed (multi-line)" << endl |
|
77 |
<< "description is output for each slave." << endl |
|
78 |
<< endl |
|
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<< "Slave selection:" << endl |
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<< " Slaves for this and other commands can be selected with" << endl |
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81 |
<< " the --alias and --position parameters as follows:" << endl |
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82 |
<< endl |
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<< " 1) If neither the --alias nor the --position option" << endl |
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<< " is given, all slaves are selected." << endl |
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85 |
<< " 2) If only the --position option is given, it is" << endl |
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86 |
<< " interpreted as an absolute ring position and" << endl |
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87 |
<< " a slave with this position is matched." << endl |
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88 |
<< " 3) If only the --alias option is given, all slaves" << endl |
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89 |
<< " with the given alias address and subsequent" << endl |
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<< " slaves before a slave with a different alias" << endl |
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<< " address match (use -p0 if only the slaves" << endl |
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<< " with the given alias are desired, see 4))." << endl |
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<< " 4) If both the --alias and the --position option are" << endl |
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94 |
<< " given, the latter is interpreted as relative" << endl |
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<< " position behind any slave with the given alias." << endl |
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<< endl |
1142 | 97 |
<< "Command-specific options:" << endl |
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98 |
<< " --alias -a <alias> Slave alias (see above)." << endl |
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<< " --position -p <pos> Slave position (see above)." << endl |
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100 |
<< " --verbose -v Show detailed slave information." << endl |
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<< endl |
102 |
<< numericInfo(); |
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104 |
return str.str(); |
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105 |
} |
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106 |
||
107 |
/****************************************************************************/ |
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108 |
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109 |
void CommandSlaves::execute(const StringVector &args) |
1142 | 110 |
{ |
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111 |
MasterIndexList masterIndices; |
1151 | 112 |
SlaveList slaves; |
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bool doIndent; |
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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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120 |
|
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masterIndices = getMasterIndices(); |
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122 |
doIndent = masterIndices.size() > 1; |
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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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126 |
MasterDevice m(*mi); |
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127 |
m.open(MasterDevice::Read); |
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128 |
slaves = selectedSlaves(m); |
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129 |
|
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130 |
if (getVerbosity() == Verbose) { |
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131 |
showSlaves(m, slaves); |
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132 |
} else { |
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133 |
listSlaves(m, slaves, doIndent); |
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134 |
} |
1142 | 135 |
} |
136 |
} |
|
137 |
||
138 |
/****************************************************************************/ |
|
139 |
||
140 |
void CommandSlaves::listSlaves( |
|
141 |
MasterDevice &m, |
|
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142 |
const SlaveList &slaves, |
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143 |
bool doIndent |
1142 | 144 |
) |
145 |
{ |
|
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146 |
ec_ioctl_master_t master; |
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147 |
unsigned int i; |
1142 | 148 |
ec_ioctl_slave_t slave; |
149 |
uint16_t lastAlias, aliasIndex; |
|
150 |
Info info; |
|
151 |
typedef list<Info> InfoList; |
|
152 |
InfoList infoList; |
|
153 |
InfoList::const_iterator iter; |
|
154 |
stringstream str; |
|
155 |
unsigned int maxPosWidth = 0, maxAliasWidth = 0, |
|
156 |
maxRelPosWidth = 0, maxStateWidth = 0; |
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157 |
string indent(doIndent ? " " : ""); |
1142 | 158 |
|
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159 |
m.getMaster(&master); |
1142 | 160 |
|
161 |
lastAlias = 0; |
|
162 |
aliasIndex = 0; |
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|
163 |
for (i = 0; i < master.slave_count; i++) { |
1142 | 164 |
m.getSlave(&slave, i); |
165 |
||
166 |
if (slave.alias) { |
|
167 |
lastAlias = slave.alias; |
|
168 |
aliasIndex = 0; |
|
169 |
} |
|
170 |
||
1151 | 171 |
if (slaveInList(slave, slaves)) { |
1142 | 172 |
str << dec << i; |
173 |
info.pos = str.str(); |
|
174 |
str.clear(); |
|
175 |
str.str(""); |
|
176 |
||
177 |
str << lastAlias; |
|
178 |
info.alias = str.str(); |
|
179 |
str.str(""); |
|
180 |
||
181 |
str << aliasIndex; |
|
182 |
info.relPos = str.str(); |
|
183 |
str.str(""); |
|
184 |
||
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Renamed state field to al_state.
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|
185 |
info.state = alStateString(slave.al_state); |
1142 | 186 |
info.flag = (slave.error_flag ? 'E' : '+'); |
187 |
||
188 |
if (strlen(slave.name)) { |
|
189 |
info.name = slave.name; |
|
190 |
} else { |
|
191 |
str << "0x" << hex << setfill('0') |
|
192 |
<< setw(8) << slave.vendor_id << ":0x" |
|
193 |
<< setw(8) << slave.product_code; |
|
194 |
info.name = str.str(); |
|
195 |
str.str(""); |
|
196 |
} |
|
197 |
||
198 |
||
199 |
infoList.push_back(info); |
|
200 |
||
201 |
if (info.pos.length() > maxPosWidth) |
|
202 |
maxPosWidth = info.pos.length(); |
|
203 |
if (info.alias.length() > maxAliasWidth) |
|
204 |
maxAliasWidth = info.alias.length(); |
|
205 |
if (info.relPos.length() > maxRelPosWidth) |
|
206 |
maxRelPosWidth = info.relPos.length(); |
|
207 |
if (info.state.length() > maxStateWidth) |
|
208 |
maxStateWidth = info.state.length(); |
|
209 |
} |
|
210 |
||
211 |
aliasIndex++; |
|
212 |
} |
|
213 |
||
1827
489be2180f71
Improved multi-master capabilities of ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
|
214 |
if (infoList.size() && doIndent) { |
489be2180f71
Improved multi-master capabilities of ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
|
215 |
cout << "Master" << dec << m.getIndex() << endl; |
489be2180f71
Improved multi-master capabilities of ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
|
216 |
} |
489be2180f71
Improved multi-master capabilities of ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
|
217 |
|
1142 | 218 |
for (iter = infoList.begin(); iter != infoList.end(); iter++) { |
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1463
diff
changeset
|
219 |
cout << indent << setfill(' ') << right |
1142 | 220 |
<< setw(maxPosWidth) << iter->pos << " " |
221 |
<< setw(maxAliasWidth) << iter->alias |
|
222 |
<< ":" << left |
|
223 |
<< setw(maxRelPosWidth) << iter->relPos << " " |
|
224 |
<< setw(maxStateWidth) << iter->state << " " |
|
225 |
<< iter->flag << " " |
|
226 |
<< iter->name << endl; |
|
227 |
} |
|
228 |
} |
|
229 |
||
230 |
/****************************************************************************/ |
|
231 |
||
1151 | 232 |
void CommandSlaves::showSlaves( |
1142 | 233 |
MasterDevice &m, |
1151 | 234 |
const SlaveList &slaves |
1142 | 235 |
) |
236 |
{ |
|
1151 | 237 |
SlaveList::const_iterator si; |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
238 |
int i; |
1151 | 239 |
|
240 |
for (si = slaves.begin(); si != slaves.end(); si++) { |
|
1826
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1463
diff
changeset
|
241 |
cout << "=== Master " << dec << m.getIndex() |
ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1463
diff
changeset
|
242 |
<< ", Slave " << dec << si->position << " ===" << endl; |
1151 | 243 |
|
244 |
if (si->alias) |
|
245 |
cout << "Alias: " << si->alias << endl; |
|
246 |
||
247 |
cout |
|
248 |
<< "State: " << alStateString(si->al_state) << endl |
|
249 |
<< "Flag: " << (si->error_flag ? 'E' : '+') << endl |
|
250 |
<< "Identity:" << endl |
|
251 |
<< " Vendor Id: 0x" |
|
252 |
<< hex << setfill('0') |
|
253 |
<< setw(8) << si->vendor_id << endl |
|
254 |
<< " Product code: 0x" |
|
255 |
<< setw(8) << si->product_code << endl |
|
256 |
<< " Revision number: 0x" |
|
257 |
<< setw(8) << si->revision_number << endl |
|
258 |
<< " Serial number: 0x" |
|
259 |
<< setw(8) << si->serial_number << endl; |
|
260 |
||
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
261 |
cout << "DL information:" << endl |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
262 |
<< " FMMU bit operation: " |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
263 |
<< (si->fmmu_bit ? "yes" : "no") << endl |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
264 |
<< " Distributed clocks: "; |
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
265 |
if (si->dc_supported) { |
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
266 |
if (si->has_dc_system_time) { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
267 |
cout << "yes, "; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
268 |
switch (si->dc_range) { |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
269 |
case EC_DC_32: |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
270 |
cout << "32 bit"; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
271 |
break; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
272 |
case EC_DC_64: |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
273 |
cout << "64 bit"; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
274 |
break; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
275 |
default: |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
276 |
cout << "???"; |
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
277 |
} |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
278 |
cout << endl; |
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
279 |
} else { |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
280 |
cout << "yes, delay measurement only" << endl; |
1419
8fc38c37d86e
Determine type of DC implementation (full or delay meas. only); update scan FSM graph.
Florian Pose <fp@igh-essen.com>
parents:
1379
diff
changeset
|
281 |
} |
1426 | 282 |
cout << " DC system time transmission delay: " |
1429
07969876120f
Decimal transmission delay.
Florian Pose <fp@igh-essen.com>
parents:
1426
diff
changeset
|
283 |
<< dec << si->transmission_delay << " ns" << endl; |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
284 |
} else { |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
285 |
cout << "no" << endl; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
286 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
287 |
|
1421 | 288 |
cout << "Port Type Link Loop Signal NextSlave"; |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
289 |
if (si->dc_supported) |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
290 |
cout << " RxTime [ns] Diff [ns] NextDc [ns]"; |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
291 |
cout << endl; |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
292 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
293 |
for (i = 0; i < EC_MAX_PORTS; i++) { |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
294 |
cout << " " << i << " " << setfill(' ') << left << setw(4); |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
295 |
switch (si->ports[i].desc) { |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
296 |
case EC_PORT_NOT_IMPLEMENTED: |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
297 |
cout << "N/A"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
298 |
break; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
299 |
case EC_PORT_NOT_CONFIGURED: |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
300 |
cout << "N/C"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
301 |
break; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
302 |
case EC_PORT_EBUS: |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
303 |
cout << "EBUS"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
304 |
break; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
305 |
case EC_PORT_MII: |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
306 |
cout << "MII"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
307 |
break; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
308 |
default: |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
309 |
cout << "???"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
310 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
311 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
312 |
cout << " " << setw(4) |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
313 |
<< (si->ports[i].link.link_up ? "up" : "down") |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
314 |
<< " " << setw(6) |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
315 |
<< (si->ports[i].link.loop_closed ? "closed" : "open") |
1421 | 316 |
<< " " << setw(6) |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
317 |
<< (si->ports[i].link.signal_detected ? "yes" : "no") |
1421 | 318 |
<< " " << setw(9) << right; |
319 |
||
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
320 |
if (si->ports[i].next_slave != 0xffff) { |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
321 |
cout << dec << si->ports[i].next_slave; |
1421 | 322 |
} else { |
323 |
cout << "-"; |
|
324 |
} |
|
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
325 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
326 |
if (si->dc_supported) { |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
327 |
cout << " " << setw(11) << right; |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
328 |
if (!si->ports[i].link.loop_closed) { |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
329 |
cout << dec << si->ports[i].receive_time; |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
330 |
} else { |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
331 |
cout << "-"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
332 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
333 |
cout << " " << setw(10); |
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
334 |
if (!si->ports[i].link.loop_closed) { |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
335 |
cout << si->ports[i].receive_time - si->ports[0].receive_time; |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
336 |
} else { |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
337 |
cout << "-"; |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
338 |
} |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
339 |
cout << " " << setw(10); |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
340 |
if (!si->ports[i].link.loop_closed) { |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
1421
diff
changeset
|
341 |
cout << si->ports[i].delay_to_next_dc; |
1420
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
342 |
} else { |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
343 |
cout << "-"; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
344 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
345 |
} |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
346 |
|
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
347 |
cout << endl; |
5eb814732c46
Measure port receive times.
Florian Pose <fp@igh-essen.com>
parents:
1419
diff
changeset
|
348 |
} |
1379
cbceb0e2f2a0
Reading more base information (incl. whether DC supported).
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
349 |
|
1151 | 350 |
if (si->mailbox_protocols) { |
1220
15e8768b304f
Fixed minor supported mailbox protocol display bug.
Florian Pose <fp@igh-essen.com>
parents:
1160
diff
changeset
|
351 |
list<string> protoList; |
15e8768b304f
Fixed minor supported mailbox protocol display bug.
Florian Pose <fp@igh-essen.com>
parents:
1160
diff
changeset
|
352 |
list<string>::const_iterator protoIter; |
15e8768b304f
Fixed minor supported mailbox protocol display bug.
Florian Pose <fp@igh-essen.com>
parents:
1160
diff
changeset
|
353 |
|
1151 | 354 |
cout << "Mailboxes:" << endl |
1463
37361de7b34e
Minor: Added missing setfill().
Florian Pose <fp@igh-essen.com>
parents:
1429
diff
changeset
|
355 |
<< " Bootstrap RX: 0x" << setfill('0') |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
356 |
<< hex << setw(4) << si->boot_rx_mailbox_offset << "/" |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
357 |
<< dec << si->boot_rx_mailbox_size |
1151 | 358 |
<< ", TX: 0x" |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
359 |
<< hex << setw(4) << si->boot_tx_mailbox_offset << "/" |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
360 |
<< dec << si->boot_tx_mailbox_size << endl |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
361 |
<< " Standard RX: 0x" |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
362 |
<< hex << setw(4) << si->std_rx_mailbox_offset << "/" |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
363 |
<< dec << si->std_rx_mailbox_size |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
364 |
<< ", TX: 0x" |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
365 |
<< hex << setw(4) << si->std_tx_mailbox_offset << "/" |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
366 |
<< dec << si->std_tx_mailbox_size << endl |
1151 | 367 |
<< " Supported protocols: "; |
368 |
||
369 |
if (si->mailbox_protocols & EC_MBOX_AOE) { |
|
370 |
protoList.push_back("AoE"); |
|
371 |
} |
|
372 |
if (si->mailbox_protocols & EC_MBOX_EOE) { |
|
373 |
protoList.push_back("EoE"); |
|
374 |
} |
|
375 |
if (si->mailbox_protocols & EC_MBOX_COE) { |
|
376 |
protoList.push_back("CoE"); |
|
377 |
} |
|
378 |
if (si->mailbox_protocols & EC_MBOX_FOE) { |
|
379 |
protoList.push_back("FoE"); |
|
380 |
} |
|
381 |
if (si->mailbox_protocols & EC_MBOX_SOE) { |
|
382 |
protoList.push_back("SoE"); |
|
383 |
} |
|
384 |
if (si->mailbox_protocols & EC_MBOX_VOE) { |
|
385 |
protoList.push_back("VoE"); |
|
386 |
} |
|
387 |
||
388 |
for (protoIter = protoList.begin(); protoIter != protoList.end(); |
|
389 |
protoIter++) { |
|
390 |
if (protoIter != protoList.begin()) |
|
391 |
cout << ", "; |
|
392 |
cout << *protoIter; |
|
393 |
} |
|
394 |
cout << endl; |
|
395 |
} |
|
396 |
||
397 |
if (si->has_general_category) { |
|
398 |
cout << "General:" << endl |
|
399 |
<< " Group: " << si->group << endl |
|
400 |
<< " Image name: " << si->image << endl |
|
401 |
<< " Order number: " << si->order << endl |
|
402 |
<< " Device name: " << si->name << endl; |
|
403 |
||
404 |
if (si->mailbox_protocols & EC_MBOX_COE) { |
|
405 |
cout << " CoE details:" << endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
406 |
<< " Enable SDO: " |
1151 | 407 |
<< (si->coe_details.enable_sdo ? "yes" : "no") << endl |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
408 |
<< " Enable SDO Info: " |
1151 | 409 |
<< (si->coe_details.enable_sdo_info ? "yes" : "no") << endl |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
410 |
<< " Enable PDO Assign: " |
1151 | 411 |
<< (si->coe_details.enable_pdo_assign |
412 |
? "yes" : "no") << endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
413 |
<< " Enable PDO Configuration: " |
1151 | 414 |
<< (si->coe_details.enable_pdo_configuration |
415 |
? "yes" : "no") << endl |
|
416 |
<< " Enable Upload at startup: " |
|
417 |
<< (si->coe_details.enable_upload_at_startup |
|
418 |
? "yes" : "no") << endl |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1222
diff
changeset
|
419 |
<< " Enable SDO complete access: " |
1151 | 420 |
<< (si->coe_details.enable_sdo_complete_access |
421 |
? "yes" : "no") << endl; |
|
422 |
} |
|
423 |
||
424 |
cout << " Flags:" << endl |
|
425 |
<< " Enable SafeOp: " |
|
426 |
<< (si->general_flags.enable_safeop ? "yes" : "no") << endl |
|
427 |
<< " Enable notLRW: " |
|
428 |
<< (si->general_flags.enable_not_lrw ? "yes" : "no") << endl |
|
429 |
<< " Current consumption: " |
|
430 |
<< dec << si->current_on_ebus << " mA" << endl; |
|
431 |
} |
|
432 |
} |
|
433 |
} |
|
434 |
||
435 |
/****************************************************************************/ |
|
436 |
||
437 |
bool CommandSlaves::slaveInList( |
|
438 |
const ec_ioctl_slave_t &slave, |
|
439 |
const SlaveList &slaves |
|
440 |
) |
|
441 |
{ |
|
442 |
SlaveList::const_iterator si; |
|
443 |
||
444 |
for (si = slaves.begin(); si != slaves.end(); si++) { |
|
445 |
if (si->position == slave.position) { |
|
446 |
return true; |
|
447 |
} |
|
448 |
} |
|
449 |
||
450 |
return false; |
|
1142 | 451 |
} |
452 |
||
453 |
/*****************************************************************************/ |