author | Florian Pose <fp@igh-essen.com> |
Wed, 04 Jun 2008 14:35:40 +0000 | |
changeset 951 | dc84a0af63da |
parent 950 | 8b00e63fff90 |
child 956 | d9b9bc794d10 |
permissions | -rw-r--r-- |
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Added the new ethercat comman-line tool with lsec functionality.
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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****************************************************************************/ |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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#include <sys/ioctl.h> |
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#include <iostream> |
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#include <iomanip> |
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#include <sstream> |
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using namespace std; |
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#include "Master.h" |
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|
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/****************************************************************************/ |
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Master::Master() |
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{ |
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index = 0; |
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fd = -1; |
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} |
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|
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/****************************************************************************/ |
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|
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Master::~Master() |
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{ |
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close(); |
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} |
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|
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/****************************************************************************/ |
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|
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void Master::open(unsigned int index) |
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{ |
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stringstream deviceName; |
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Master::index = index; |
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|
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deviceName << "/dev/EtherCAT" << index; |
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|
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if ((fd = ::open(deviceName.str().c_str(), O_RDONLY)) == -1) { |
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stringstream err; |
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err << "Failed to open master device " << deviceName.str() << ": " |
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<< strerror(errno); |
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throw MasterException(err.str()); |
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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 Master::close() |
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{ |
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if (fd == -1) |
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return; |
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|
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::close(fd); |
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} |
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|
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/****************************************************************************/ |
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|
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void Master::outputData(int domainIndex) |
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{ |
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if (domainIndex == -1) { |
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unsigned int numDomains = domainCount(), i; |
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|
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for (i = 0; i < numDomains; i++) { |
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outputDomainData(i); |
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} |
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} else { |
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outputDomainData(domainIndex); |
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} |
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} |
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|
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/****************************************************************************/ |
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|
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Implemented domain command.
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void Master::showDomains(int domainIndex) |
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{ |
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if (domainIndex == -1) { |
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unsigned int numDomains = domainCount(), i; |
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|
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for (i = 0; i < numDomains; i++) { |
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showDomain(i); |
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87 |
} |
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} else { |
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showDomain(domainIndex); |
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} |
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} |
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|
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/****************************************************************************/ |
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95 |
void Master::listSlaves() |
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96 |
{ |
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97 |
unsigned int numSlaves = slaveCount(), i; |
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98 |
ec_ioctl_slave_t slave; |
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99 |
uint16_t lastAlias, aliasIndex; |
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100 |
|
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101 |
lastAlias = 0; |
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102 |
aliasIndex = 0; |
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103 |
for (i = 0; i < numSlaves; i++) { |
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104 |
getSlave(&slave, i); |
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105 |
cout << setw(2) << i << " "; |
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106 |
|
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107 |
if (slave.alias) { |
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108 |
lastAlias = slave.alias; |
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109 |
aliasIndex = 0; |
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|
110 |
} |
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|
111 |
if (lastAlias) { |
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|
112 |
cout << setw(10) << "#" << lastAlias << ":" << aliasIndex; |
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|
113 |
} |
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114 |
|
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115 |
cout << " " << slaveState(slave.state) << " "; |
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116 |
|
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117 |
if (strlen(slave.name)) { |
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|
118 |
cout << slave.name; |
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|
119 |
} else { |
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120 |
cout << "0x" << hex << setfill('0') << slave.vendor_id |
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922
diff
changeset
|
121 |
<< ":0x" << slave.product_code; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
122 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
123 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
124 |
cout << endl; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
} |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
126 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
127 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
128 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
129 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
130 |
void Master::listPdos(int slavePosition) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
131 |
{ |
936 | 132 |
if (slavePosition == -1) { |
133 |
unsigned int numSlaves = slaveCount(), i; |
|
134 |
||
135 |
for (i = 0; i < numSlaves; i++) { |
|
136 |
listSlavePdos(i, true); |
|
137 |
} |
|
138 |
} else { |
|
139 |
listSlavePdos(slavePosition, false); |
|
140 |
} |
|
141 |
} |
|
142 |
||
143 |
/****************************************************************************/ |
|
144 |
||
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
145 |
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
|
146 |
{ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
147 |
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
|
148 |
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
|
149 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
150 |
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
|
151 |
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
|
152 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
153 |
} else { |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
154 |
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
|
155 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
156 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
157 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
158 |
/****************************************************************************/ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
159 |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
160 |
void Master::outputDomainData(unsigned int domainIndex) |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
161 |
{ |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
162 |
ec_ioctl_domain_t domain; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
163 |
ec_ioctl_data_t data; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
164 |
unsigned char *processData; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
165 |
unsigned int i; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
166 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
167 |
getDomain(&domain, domainIndex); |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
168 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
169 |
if (!domain.data_size) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
170 |
return; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
171 |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
172 |
processData = new unsigned char[domain.data_size]; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
173 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
174 |
try { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
175 |
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
|
176 |
} catch (MasterException &e) { |
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
177 |
delete [] processData; |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
178 |
throw e; |
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
179 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
180 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
181 |
for (i = 0; i < data.data_size; i++) |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
182 |
cout << processData[i]; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
183 |
cout.flush(); |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
184 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
185 |
delete [] processData; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
186 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
187 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
188 |
/****************************************************************************/ |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
189 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
190 |
void Master::showDomain(unsigned int domainIndex) |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
191 |
{ |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
192 |
ec_ioctl_domain_t domain; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
193 |
unsigned char *processData; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
194 |
ec_ioctl_data_t data; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
195 |
unsigned int i, j; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
196 |
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
|
197 |
unsigned int dataOffset; |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
198 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
199 |
getDomain(&domain, domainIndex); |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
200 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
201 |
cout << "Domain" << domainIndex << ":" |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
202 |
<< " LogBaseAddr 0x" |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
203 |
<< hex << setfill('0') << setw(8) << domain.logical_base_address |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
204 |
<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
205 |
<< ", WorkingCounter " |
951
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
206 |
<< dec << domain.working_counter << "/" |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
207 |
<< 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
|
208 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
209 |
if (!domain.data_size) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
210 |
return; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
211 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
212 |
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
|
213 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
214 |
try { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
215 |
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
|
216 |
} catch (MasterException &e) { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
217 |
delete [] processData; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
218 |
throw e; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
219 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
220 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
221 |
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
|
222 |
getFmmu(&fmmu, domainIndex, i); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
223 |
|
951
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
224 |
cout << " SlaveConfig " |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
225 |
<< fmmu.slave_config_alias << ":" << fmmu.slave_config_position |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
226 |
<< ", Dir " |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
227 |
<< setfill(' ') << setw(3) << (fmmu.fmmu_dir ? "In" : "Out") |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
228 |
<< ", LogAddr 0x" |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
229 |
<< hex << setfill('0') << setw(8) << fmmu.logical_address |
951
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
230 |
<< ", 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
|
231 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
232 |
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
|
233 |
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
|
234 |
stringstream err; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
235 |
err << "Fmmu information corrupted!"; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
236 |
delete [] processData; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
237 |
throw MasterException(err.str()); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
238 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
239 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
240 |
cout << " " << hex << setfill('0'); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
241 |
for (j = 0; j < fmmu.data_size; j++) { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
242 |
cout << setw(2) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
243 |
<< (unsigned int) *(processData + dataOffset + j) << " "; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
244 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
245 |
cout << endl; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
246 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
247 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
248 |
delete [] processData; |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
249 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
250 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
251 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
252 |
|
936 | 253 |
void Master::listSlavePdos(uint16_t slavePosition, bool printSlave) |
254 |
{ |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
255 |
ec_ioctl_slave_t slave; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
256 |
ec_ioctl_sync_t sync; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
257 |
ec_ioctl_pdo_t pdo; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
258 |
ec_ioctl_pdo_entry_t entry; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
259 |
unsigned int i, j, k; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
260 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
261 |
getSlave(&slave, slavePosition); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
262 |
|
936 | 263 |
if (printSlave) |
264 |
cout << "=== Slave " << slavePosition << " ===" << endl; |
|
265 |
||
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
266 |
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
|
267 |
getSync(&sync, slavePosition, i); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
268 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
269 |
cout << "SM" << i << ":" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
270 |
<< " PhysAddr 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
271 |
<< hex << setfill('0') << setw(4) << sync.physical_start_address |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
272 |
<< ", DefaultSize " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
273 |
<< dec << setfill(' ') << setw(4) << sync.default_size |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
274 |
<< ", ControlRegister 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
275 |
<< hex << setfill('0') << setw(2) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
276 |
<< (unsigned int) sync.control_register |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
277 |
<< ", Enable " << dec << (unsigned int) sync.enable |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
278 |
<< endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
279 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
280 |
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
|
281 |
getPdo(&pdo, slavePosition, i, j); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
282 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
283 |
cout << " " << (pdo.dir ? "T" : "R") << "xPdo 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
284 |
<< hex << setfill('0') << setw(4) << pdo.index |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
285 |
<< " \"" << pdo.name << "\"" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
286 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
287 |
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
|
288 |
getPdoEntry(&entry, slavePosition, i, j, k); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
289 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
290 |
cout << " Pdo entry 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
291 |
<< hex << setfill('0') << setw(4) << entry.index |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
292 |
<< ":" << hex << setfill('0') << setw(2) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
293 |
<< (unsigned int) entry.subindex |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
294 |
<< ", " << dec << (unsigned int) entry.bit_length |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
295 |
<< " bit, \"" << entry.name << "\"" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
296 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
297 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
298 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
299 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
300 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
301 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
302 |
|
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
303 |
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
|
304 |
{ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
305 |
ec_ioctl_slave_t slave; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
306 |
ec_ioctl_sync_t sync; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
307 |
ec_ioctl_pdo_t pdo; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
308 |
ec_ioctl_pdo_entry_t entry; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
309 |
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
|
310 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
311 |
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
|
312 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
313 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
314 |
<< "<?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
|
315 |
<< " <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
|
316 |
<< " <!-- 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
|
317 |
<< " <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
|
318 |
<< " <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
|
319 |
<< " </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
|
320 |
<< " <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
|
321 |
<< " <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
|
322 |
<< " <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
|
323 |
<< " <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
|
324 |
<< 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
|
325 |
<< "\" 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
|
326 |
<< 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
|
327 |
<< "\"/>" << endl; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
328 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
329 |
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
|
330 |
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
|
331 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
332 |
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
|
333 |
getPdo(&pdo, slavePosition, i, j); |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
334 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
335 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
336 |
<< " <" << (pdo.dir ? "T" : "R") << "xPdo>" << endl |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
337 |
<< " <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
|
338 |
<< 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
|
339 |
<< "</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
|
340 |
<< " <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
|
341 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
342 |
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
|
343 |
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
|
344 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
345 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
346 |
<< " <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
|
347 |
<< " <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
|
348 |
<< 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
|
349 |
<< "</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
|
350 |
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
|
351 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
352 |
<< " <SubIndex>" |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
353 |
<< 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
|
354 |
<< "</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
|
355 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
356 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
357 |
<< " <BitLen>" |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
358 |
<< (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
|
359 |
<< "</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
|
360 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
361 |
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
|
362 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
363 |
<< " <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
|
364 |
<< "</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
|
365 |
<< " <DataType>"; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
366 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
367 |
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
|
368 |
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
|
369 |
} 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
|
370 |
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
|
371 |
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
|
372 |
else |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
373 |
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
|
374 |
<< (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
|
375 |
<< ")"; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
376 |
} else { |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
377 |
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
|
378 |
<< (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
|
379 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
380 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
381 |
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
|
382 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
383 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
384 |
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
|
385 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
386 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
387 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
388 |
<< " </" << (pdo.dir ? "T" : "R") << "xPdo>" << endl; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
389 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
390 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
391 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
392 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
393 |
<< " </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
|
394 |
<< " </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
|
395 |
<< " </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
|
396 |
<< "</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
|
397 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
398 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
399 |
/****************************************************************************/ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
400 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
401 |
unsigned int Master::domainCount() |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
402 |
{ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
403 |
int ret; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
404 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
405 |
if ((ret = ioctl(fd, EC_IOCTL_DOMAIN_COUNT, 0)) < 0) { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
406 |
stringstream err; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
407 |
err << "Failed to get number of domains: " << strerror(errno); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
408 |
throw MasterException(err.str()); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
409 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
410 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
411 |
return ret; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
412 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
413 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
414 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
415 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
416 |
unsigned int Master::slaveCount() |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
417 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
418 |
int ret; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
419 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
420 |
if ((ret = ioctl(fd, EC_IOCTL_SLAVE_COUNT, 0)) < 0) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
421 |
stringstream err; |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
422 |
err << "Failed to get number of slaves: " << strerror(errno); |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
423 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
424 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
425 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
426 |
return ret; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
427 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
428 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
429 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
430 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
431 |
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
|
432 |
{ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
433 |
data->index = index; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
434 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
435 |
if (ioctl(fd, EC_IOCTL_DOMAIN, data)) { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
436 |
stringstream err; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
437 |
err << "Failed to get domain: "; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
438 |
if (errno == EINVAL) |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
439 |
err << "Domain " << index << " does not exist!"; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
440 |
else |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
441 |
err << strerror(errno); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
442 |
throw MasterException(err.str()); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
443 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
444 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
445 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
446 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
447 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
448 |
void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex, |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
449 |
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
|
450 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
451 |
data->domain_index = domainIndex; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
452 |
data->data_size = dataSize; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
453 |
data->target = mem; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
454 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
455 |
if (ioctl(fd, EC_IOCTL_DATA, data) < 0) { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
456 |
stringstream err; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
457 |
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
|
458 |
throw MasterException(err.str()); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
459 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
460 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
461 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
462 |
/****************************************************************************/ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
463 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
464 |
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
|
465 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
466 |
slave->position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
467 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
468 |
if (ioctl(fd, EC_IOCTL_SLAVE, slave)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
469 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
470 |
err << "Failed to get slave: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
471 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
472 |
err << "Slave " << slaveIndex << " does not exist!"; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
473 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
474 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
475 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
476 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
477 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
478 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
479 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
480 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
481 |
void Master::getFmmu( |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
482 |
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
|
483 |
unsigned int domainIndex, |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
484 |
unsigned int fmmuIndex |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
485 |
) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
486 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
487 |
fmmu->domain_index = domainIndex; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
488 |
fmmu->fmmu_index = fmmuIndex; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
489 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
490 |
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
|
491 |
stringstream err; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
492 |
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
|
493 |
if (errno == EINVAL) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
494 |
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
|
495 |
<< "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
|
496 |
<< " FMMus!"; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
497 |
else |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
498 |
err << strerror(errno); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
499 |
throw MasterException(err.str()); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
500 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
501 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
502 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
503 |
/****************************************************************************/ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
504 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
505 |
void Master::getSync( |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
506 |
ec_ioctl_sync_t *sync, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
507 |
uint16_t slaveIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
508 |
uint8_t syncIndex |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
509 |
) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
510 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
511 |
sync->slave_position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
512 |
sync->sync_index = syncIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
513 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
514 |
if (ioctl(fd, EC_IOCTL_SYNC, sync)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
515 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
516 |
err << "Failed to get sync manager: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
517 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
518 |
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
|
519 |
<< "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
|
520 |
<< " sync managers!"; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
521 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
522 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
523 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
524 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
525 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
526 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
527 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
528 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
529 |
void Master::getPdo( |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
530 |
ec_ioctl_pdo_t *pdo, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
531 |
uint16_t slaveIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
532 |
uint8_t syncIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
533 |
uint8_t pdoPos |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
534 |
) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
535 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
536 |
pdo->slave_position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
537 |
pdo->sync_index = syncIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
538 |
pdo->pdo_pos = pdoPos; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
539 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
540 |
if (ioctl(fd, EC_IOCTL_PDO, pdo)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
541 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
542 |
err << "Failed to get Pdo: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
543 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
544 |
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
|
545 |
<< "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
|
546 |
<< " sync managers, or sync manager " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
547 |
<< (unsigned int) syncIndex << " contains less than " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
548 |
<< pdoPos + 1 << " Pdos!" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
549 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
550 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
551 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
552 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
553 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
554 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
555 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
556 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
557 |
void Master::getPdoEntry( |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
558 |
ec_ioctl_pdo_entry_t *entry, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
559 |
uint16_t slaveIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
560 |
uint8_t syncIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
561 |
uint8_t pdoPos, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
562 |
uint8_t entryPos |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
563 |
) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
564 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
565 |
entry->slave_position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
566 |
entry->sync_index = syncIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
567 |
entry->pdo_pos = pdoPos; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
568 |
entry->entry_pos = entryPos; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
569 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
570 |
if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
571 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
572 |
err << "Failed to get Pdo entry: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
573 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
574 |
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
|
575 |
<< "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
|
576 |
<< " sync managers, or sync manager " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
577 |
<< (unsigned int) syncIndex << " contains less than " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
578 |
<< 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
|
579 |
<< " contains less than " << (unsigned int) entryPos + 1 |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
580 |
<< " entries!" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
581 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
582 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
583 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
584 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
585 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
586 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
587 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
588 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
589 |
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
|
590 |
{ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
591 |
switch (state) { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
592 |
case 1: return "INIT"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
593 |
case 2: return "PREOP"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
594 |
case 4: return "SAFEOP"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
595 |
case 8: return "OP"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
596 |
default: return "???"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
597 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
598 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
599 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
600 |
/****************************************************************************/ |