author | Florian Pose <fp@igh-essen.com> |
Tue, 04 Jan 2011 08:36:41 +0100 | |
changeset 2012 | ee4782738e30 |
parent 1870 | 0cee1fb7f0fd |
child 1968 | 4f682084c643 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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****************************************************************************/ |
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|
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#include <iostream> |
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#include <map> |
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using namespace std; |
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|
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#include "CommandGraph.h" |
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#include "MasterDevice.h" |
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|
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/*****************************************************************************/ |
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|
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CommandGraph::CommandGraph(): |
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Command("graph", "Output the bus topology as a graph.") |
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{ |
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} |
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|
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/*****************************************************************************/ |
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|
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string CommandGraph::helpString() const |
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{ |
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stringstream str; |
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|
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str << getName() << " [OPTIONS]" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
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54 |
<< "The bus is output in DOT language (see" << endl |
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<< "http://www.graphviz.org/doc/info/lang.html), which can" << endl |
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56 |
<< "be processed with the tools from the Graphviz" << endl |
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<< "package. Example:" << endl |
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<< endl |
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<< " ethercat graph | dot -Tsvg > bus.svg" << endl |
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<< endl |
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61 |
<< "See 'man dot' for more information." << endl; |
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|
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return str.str(); |
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} |
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|
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/****************************************************************************/ |
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|
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void CommandGraph::execute(const StringVector &args) |
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{ |
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ec_ioctl_master_t master; |
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unsigned int i; |
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typedef vector<ec_ioctl_slave_t> SlaveVector; |
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SlaveVector slaves; |
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ec_ioctl_slave_t slave; |
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SlaveVector::const_iterator si; |
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map<int, string> portMedia; |
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map<int, string>::const_iterator mi; |
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map<int, int> mediaWeights; |
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map<int, int>::const_iterator wi; |
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|
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portMedia[EC_PORT_MII] = "MII"; |
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mediaWeights[EC_PORT_MII] = 1; |
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|
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portMedia[EC_PORT_EBUS] = "EBUS"; |
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mediaWeights[EC_PORT_EBUS] = 5; |
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|
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if (args.size()) { |
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88 |
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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|
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MasterDevice m(getSingleMasterIndex()); |
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m.open(MasterDevice::Read); |
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m.getMaster(&master); |
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|
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for (i = 0; i < master.slave_count; i++) { |
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m.getSlave(&slave, i); |
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99 |
slaves.push_back(slave); |
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100 |
} |
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101 |
|
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cout << "/* EtherCAT bus graph. Generated by 'ethercat graph'. */" << endl |
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103 |
<< endl |
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104 |
<< "strict graph bus {" << endl |
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105 |
<< " rankdir=\"LR\"" << endl |
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<< " ranksep=0.8" << endl |
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<< " nodesep=0.8" << endl |
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108 |
<< " node [fontname=\"Helvetica\"]" << endl |
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<< " edge [fontname=\"Helvetica\",fontsize=\"10\"]" << endl |
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110 |
<< endl |
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111 |
<< " master [label=\"EtherCAT\\nMaster\"]" << endl; |
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112 |
|
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113 |
if (slaves.size()) { |
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114 |
cout << " master -- slave0"; |
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mi = portMedia.find(slaves.front().ports[0].desc); |
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if (mi != portMedia.end()) |
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cout << "[label=\"" << mi->second << "\"]"; |
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118 |
|
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119 |
cout << endl; |
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120 |
} |
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121 |
cout << endl; |
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122 |
|
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123 |
for (si = slaves.begin(); si != slaves.end(); si++) { |
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cout << " slave" << si->position << " [shape=\"box\"" |
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125 |
<< ",label=\"" << si->position; |
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126 |
if (string(si->order).size()) |
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|
127 |
cout << "\\n" << si->order; |
1425
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128 |
if (si->dc_supported) { |
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129 |
cout << "\\nDC: "; |
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130 |
if (si->has_dc_system_time) { |
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131 |
switch (si->dc_range) { |
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132 |
case EC_DC_32: |
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133 |
cout << "32 bit"; |
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134 |
break; |
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135 |
case EC_DC_64: |
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136 |
cout << "64 bit"; |
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137 |
break; |
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|
138 |
default: |
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|
139 |
break; |
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|
140 |
} |
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|
141 |
} else { |
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|
142 |
cout << "Delay meas."; |
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143 |
} |
1426 | 144 |
cout << "\\nDelay: " << si->transmission_delay << " ns"; |
1425
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145 |
} |
1422
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146 |
cout << "\"]" << endl; |
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|
147 |
|
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parents:
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changeset
|
148 |
for (i = 1; i < EC_MAX_PORTS; i++) { |
1425
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|
149 |
uint16_t next_pos = si->ports[i].next_slave; |
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|
150 |
ec_ioctl_slave_t *next = NULL; |
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changeset
|
151 |
|
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|
152 |
if (next_pos == 0xffff) |
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|
153 |
continue; |
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|
154 |
|
1425
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|
155 |
if (next_pos < slaves.size()) { |
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|
156 |
next = &slaves[next_pos]; |
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|
157 |
} else { |
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|
158 |
cerr << "Invalid next slave pointer." << endl; |
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changeset
|
159 |
} |
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Transition delay calculation. TBC...
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diff
changeset
|
160 |
|
1422
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parents:
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changeset
|
161 |
cout << " slave" << si->position << " -- " |
1425
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|
162 |
<< "slave" << next_pos << " [taillabel=\"" << i; |
1422
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parents:
diff
changeset
|
163 |
|
1425
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Transition delay calculation. TBC...
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changeset
|
164 |
if (si->dc_supported) { |
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Transition delay calculation. TBC...
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|
165 |
cout << " [" << si->ports[i].delay_to_next_dc << "]"; |
c1322a8793c0
Transition delay calculation. TBC...
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parents:
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changeset
|
166 |
} |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
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changeset
|
167 |
cout << "\",headlabel=\"0"; |
c1322a8793c0
Transition delay calculation. TBC...
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parents:
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diff
changeset
|
168 |
|
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
169 |
if (next && next->dc_supported) { |
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
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changeset
|
170 |
cout << " [" << next->ports[0].delay_to_next_dc << "]"; |
c1322a8793c0
Transition delay calculation. TBC...
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diff
changeset
|
171 |
} |
c1322a8793c0
Transition delay calculation. TBC...
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changeset
|
172 |
cout << "\""; |
c1322a8793c0
Transition delay calculation. TBC...
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parents:
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diff
changeset
|
173 |
|
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
174 |
mi = portMedia.find(si->ports[i].desc); |
c1322a8793c0
Transition delay calculation. TBC...
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diff
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|
175 |
if (mi == portMedia.end() && next) { |
1422
d41e4537b75f
Added 'ethercat graph' command.
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parents:
diff
changeset
|
176 |
/* Try medium of next-hop slave. */ |
1425
c1322a8793c0
Transition delay calculation. TBC...
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diff
changeset
|
177 |
mi = portMedia.find(next->ports[0].desc); |
1422
d41e4537b75f
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
} |
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
|
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
if (mi != portMedia.end()) |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
cout << ",label=\"" << mi->second << "\""; |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
|
1425
c1322a8793c0
Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
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1422
diff
changeset
|
183 |
wi = mediaWeights.find(si->ports[i].desc); |
1422
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
if (wi != mediaWeights.end()) |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
cout << ",weight=\"" << wi->second << "\""; |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
|
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
cout << "]" << endl; |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
} |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
|
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
cout << endl; |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
} |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
|
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
cout << "}" << endl; |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
} |
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
|
d41e4537b75f
Added 'ethercat graph' command.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
/*****************************************************************************/ |