author | Edouard Tisserant <edouard.tisserant@gmail.com> |
Sat, 29 Sep 2018 23:58:09 +0200 | |
branch | stable-1.5 |
changeset 2714 | ec417efca1fd |
parent 2453 | d461b1f07296 |
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. |
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* |
28 |
****************************************************************************/ |
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30 |
#include <iostream> |
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31 |
#include <iomanip> |
|
32 |
using namespace std; |
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33 |
||
34 |
#include "CommandDomains.h" |
|
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#include "MasterDevice.h" |
1142 | 36 |
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37 |
/*****************************************************************************/ |
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38 |
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39 |
CommandDomains::CommandDomains(): |
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40 |
Command("domains", "Show configured domains.") |
|
41 |
{ |
|
42 |
} |
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43 |
||
44 |
/*****************************************************************************/ |
|
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||
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string CommandDomains::helpString(const string &binaryBaseName) const |
1142 | 47 |
{ |
48 |
stringstream str; |
|
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str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl |
1142 | 51 |
<< endl |
1804 | 52 |
<< getBriefDescription() << endl |
53 |
<< endl |
|
54 |
<< "Without the --verbose option, the domains are displayed" << endl |
|
1142 | 55 |
<< "one-per-line. Example:" << endl |
1804 | 56 |
<< endl |
57 |
<< "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1" |
|
58 |
<< endl << endl |
|
59 |
<< "The domain's base address for the logical datagram" << endl |
|
60 |
<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl |
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61 |
<< "process data size in byte. The last values are the current" << endl |
|
62 |
<< "datagram working counter sum and the expected working" << endl |
|
63 |
<< "counter sum. If the values are equal, all PDOs were" << endl |
|
1167 | 64 |
<< "exchanged during the last cycle." << endl |
65 |
<< endl |
|
1804 | 66 |
<< "If the --verbose option is given, the participating slave" << endl |
67 |
<< "configurations/FMMUs and the current process data are" << endl |
|
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<< "additionally displayed:" << endl |
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<< endl |
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<< "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1" |
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<< endl |
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<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6" |
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<< endl |
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<< " 00 00 00 00 00 00" << endl |
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<< endl |
76 |
<< "The process data are displayed as hexadecimal bytes." << endl |
|
77 |
<< endl |
|
78 |
<< "Command-specific options:" << endl |
|
79 |
<< " --domain -d <index> Positive numerical domain index." << endl |
|
80 |
<< " If ommitted, all domains are" << endl |
|
1167 | 81 |
<< " displayed." << endl |
1804 | 82 |
<< endl |
83 |
<< " --verbose -v Show FMMUs and process data" << endl |
|
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<< " in addition." << endl |
|
85 |
<< endl |
|
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<< numericInfo(); |
|
1142 | 87 |
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1804 | 88 |
return str.str(); |
1142 | 89 |
} |
90 |
||
91 |
/****************************************************************************/ |
|
92 |
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void CommandDomains::execute(const StringVector &args) |
1142 | 94 |
{ |
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MasterIndexList masterIndices; |
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bool doIndent; |
1804 | 97 |
DomainList domains; |
98 |
DomainList::const_iterator di; |
|
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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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105 |
|
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masterIndices = getMasterIndices(); |
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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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ec_ioctl_master_t io; |
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MasterDevice m(*mi); |
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m.open(MasterDevice::Read); |
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m.getMaster(&io); |
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domains = selectedDomains(m, io); |
1142 | 116 |
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if (domains.size() && doIndent) { |
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cout << "Master" << dec << *mi << endl; |
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} |
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120 |
|
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for (di = domains.begin(); di != domains.end(); di++) { |
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showDomain(m, io, *di, doIndent); |
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} |
1804 | 124 |
} |
1142 | 125 |
} |
126 |
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127 |
/****************************************************************************/ |
|
128 |
||
1166 | 129 |
void CommandDomains::showDomain( |
1804 | 130 |
MasterDevice &m, |
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const ec_ioctl_master_t &master, |
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const ec_ioctl_domain_t &domain, |
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bool doIndent |
1804 | 134 |
) |
1142 | 135 |
{ |
136 |
unsigned char *processData; |
|
137 |
ec_ioctl_domain_data_t data; |
|
138 |
unsigned int i, j; |
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139 |
ec_ioctl_domain_fmmu_t fmmu; |
|
140 |
unsigned int dataOffset; |
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141 |
string indent(doIndent ? " " : ""); |
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142 |
unsigned int wc_sum = 0, dev_idx; |
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143 |
|
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144 |
for (dev_idx = EC_DEVICE_MAIN; dev_idx < master.num_devices; dev_idx++) { |
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145 |
wc_sum += domain.working_counter[dev_idx]; |
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146 |
} |
1804 | 147 |
|
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148 |
cout << indent << "Domain" << dec << domain.index << ":" |
1804 | 149 |
<< " LogBaseAddr 0x" |
150 |
<< hex << setfill('0') |
|
1142 | 151 |
<< setw(8) << domain.logical_base_address |
1804 | 152 |
<< ", Size " << dec << setfill(' ') |
1142 | 153 |
<< setw(3) << domain.data_size |
1804 | 154 |
<< ", WorkingCounter " |
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155 |
<< wc_sum << "/" |
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156 |
<< domain.expected_working_counter; |
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157 |
if (master.num_devices > 1) { |
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158 |
cout << " ("; |
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159 |
for (dev_idx = EC_DEVICE_MAIN; dev_idx < master.num_devices; |
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160 |
dev_idx++) { |
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161 |
cout << domain.working_counter[dev_idx]; |
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162 |
if (dev_idx + 1 < master.num_devices) { |
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163 |
cout << "+"; |
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|
164 |
} |
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|
165 |
} |
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|
166 |
cout << ")"; |
2369
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|
167 |
} |
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|
168 |
cout << endl; |
1142 | 169 |
|
170 |
if (!domain.data_size || getVerbosity() != Verbose) |
|
171 |
return; |
|
172 |
||
173 |
processData = new unsigned char[domain.data_size]; |
|
174 |
||
175 |
try { |
|
1166 | 176 |
m.getData(&data, domain.index, domain.data_size, processData); |
1142 | 177 |
} catch (MasterDeviceException &e) { |
178 |
delete [] processData; |
|
179 |
throw e; |
|
180 |
} |
|
181 |
||
182 |
for (i = 0; i < domain.fmmu_count; i++) { |
|
1166 | 183 |
m.getFmmu(&fmmu, domain.index, i); |
1142 | 184 |
|
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|
185 |
cout << indent << " SlaveConfig " |
1142 | 186 |
<< dec << fmmu.slave_config_alias |
187 |
<< ":" << fmmu.slave_config_position |
|
188 |
<< ", SM" << (unsigned int) fmmu.sync_index << " (" |
|
189 |
<< setfill(' ') << setw(6) |
|
190 |
<< (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output") |
|
191 |
<< "), LogAddr 0x" |
|
192 |
<< hex << setfill('0') |
|
193 |
<< setw(8) << fmmu.logical_address |
|
194 |
<< ", Size " << dec << fmmu.data_size << endl; |
|
195 |
||
196 |
dataOffset = fmmu.logical_address - domain.logical_base_address; |
|
197 |
if (dataOffset + fmmu.data_size > domain.data_size) { |
|
198 |
stringstream err; |
|
199 |
delete [] processData; |
|
200 |
err << "Fmmu information corrupted!"; |
|
201 |
throwCommandException(err); |
|
202 |
} |
|
203 |
||
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|
204 |
cout << indent << " " << hex << setfill('0'); |
1142 | 205 |
for (j = 0; j < fmmu.data_size; j++) { |
206 |
if (j && !(j % BreakAfterBytes)) |
|
1826
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|
207 |
cout << endl << indent << " "; |
1955
09c2bd224d3f
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|
208 |
cout << setw(2) |
1142 | 209 |
<< (unsigned int) *(processData + dataOffset + j) << " "; |
210 |
} |
|
211 |
cout << endl; |
|
212 |
} |
|
213 |
||
214 |
delete [] processData; |
|
215 |
} |
|
216 |
||
217 |
/*****************************************************************************/ |