1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#include <iostream>

    31

#include <iomanip>

    32

using namespace std;

    33

    34

#include "CommandMaster.h"

    35

    36

#define MAX_TIME_STR_SIZE 50

    37

    38

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

    39

    40

CommandMaster::CommandMaster():

    41

    Command("master", "Show master and Ethernet device information.")

    42

{

    43

}

    44

    45

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

    46

    47

string CommandMaster::helpString() const

    48

{

    49

    stringstream str;

    50

    51

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

    52

        << endl

    53

        << getBriefDescription() << endl

    54

        << endl

    55

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

    56

        << "  --master -m <index>  Index of the master to use. Default: 0."

    57

        << endl << endl

    58

        << numericInfo();

    59

    60

    return str.str();

    61

}

    62

    63

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

    64

    65

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

    66

{

    67

    ec_ioctl_master_t data;

    68

    stringstream err;

    69

    unsigned int i;

    70

    time_t epoch;

    71

    char time_str[MAX_TIME_STR_SIZE + 1];

    72

    size_t time_str_size;

    73

    74

    if (args.size()) {

    75

        err << "'" << getName() << "' takes no arguments!";

    76

        throwInvalidUsageException(err);

    77

    }

    78

    79

    m.open(MasterDevice::Read);

    80

    m.getMaster(&data);

    81

    82

    cout

    83

        << "Master" << m.getIndex() << endl

    84

        << "  Phase: ";

    85

    86

    switch (data.phase) {

    87

        case 0:  cout << "Waiting for device..."; break;

    88

        case 1:  cout << "Idle"; break;

    89

        case 2:  cout << "Operation"; break;

    90

        default: cout << "???";

    91

    }

    92

    93

    cout << endl

    94

        << "  Active: " << (data.active ? "yes" : "no") << endl

    95

        << "  Slaves: " << data.slave_count << endl

    96

        << "  Ethernet devices:" << endl;

    97

    98

    for (i = 0; i < 2; i++) {

    99

        cout << "    " << (i == 0 ? "Main" : "Backup") << ": ";

   100

        if (data.devices[i].address[0] == 0x00

   101

                && data.devices[i].address[1] == 0x00

   102

                && data.devices[i].address[2] == 0x00

   103

                && data.devices[i].address[3] == 0x00

   104

                && data.devices[i].address[4] == 0x00

   105

                && data.devices[i].address[5] == 0x00) {

   106

            cout << "None.";

   107

        } else {

   108

            cout << hex << setfill('0')

   109

                << setw(2) << (unsigned int) data.devices[i].address[0] << ":"

   110

                << setw(2) << (unsigned int) data.devices[i].address[1] << ":"

   111

                << setw(2) << (unsigned int) data.devices[i].address[2] << ":"

   112

                << setw(2) << (unsigned int) data.devices[i].address[3] << ":"

   113

                << setw(2) << (unsigned int) data.devices[i].address[4] << ":"

   114

                << setw(2) << (unsigned int) data.devices[i].address[5] << " ("

   115

                << (data.devices[i].attached ? "attached" : "waiting...")

   116

                << ")" << endl << dec

   117

                << "      Link: " << (data.devices[i].link_state ? "UP" : "DOWN") << endl

   118

                << "      Tx count: " << data.devices[i].tx_count << endl

   119

                << "      Rx count: " << data.devices[i].rx_count;

   120

        }

   121

        cout << endl;

   122

    }

   123

   124

    cout << "  Distributed clocks:" << endl

   125

        << "    Reference clock: ";

   126

    if (data.ref_clock != 0xffff) {

   127

        cout << "Slave " << dec << data.ref_clock;

   128

    } else {

   129

        cout << "None";

   130

    }

   131

    cout << endl

   132

        << "    Application time: " << data.app_time << endl

   133

        << "                      ";

   134

   135

    epoch = data.app_time / 1000000000 + 946684800ULL;

   136

    time_str_size = strftime(time_str, MAX_TIME_STR_SIZE,

   137

            "%Y-%m-%d %H:%M:%S", gmtime(&epoch));

   138

    cout << string(time_str, time_str_size) << "."

   139

        << setfill('0') << setw(9) << data.app_time % 1000000000 << endl;

   140

}

   141

   142

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