author | Martin Troxler <martin.troxler@komaxgroup.com> |
Tue, 15 Dec 2009 10:53:28 +0100 | |
changeset 1599 | fe338fe37923 |
parent 1474 | 758a9bd3e549 |
child 1560 | 0ca50da62c52 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
|
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* $Id$ |
11c0b2caa253
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4 |
* |
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5 |
* 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 |
11c0b2caa253
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* modify it under the terms of the GNU General Public License version 2, as |
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11 |
* 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, |
11c0b2caa253
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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 |
11c0b2caa253
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* Public License for more details. |
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* |
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18 |
* You should have received a copy of the GNU General Public License along |
11c0b2caa253
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19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
11c0b2caa253
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20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
1142 | 27 |
* |
28 |
****************************************************************************/ |
|
29 |
||
30 |
#include <iostream> |
|
31 |
#include <iomanip> |
|
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#include <string.h> |
1142 | 33 |
using namespace std; |
34 |
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35 |
#include "CommandXml.h" |
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36 |
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37 |
/*****************************************************************************/ |
|
38 |
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39 |
CommandXml::CommandXml(): |
|
40 |
Command("xml", "Generate slave information XML.") |
|
41 |
{ |
|
42 |
} |
|
43 |
||
44 |
/*****************************************************************************/ |
|
45 |
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46 |
string CommandXml::helpString() const |
|
47 |
{ |
|
48 |
stringstream str; |
|
49 |
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str << getName() << " [OPTIONS]" << endl |
1142 | 51 |
<< endl |
52 |
<< getBriefDescription() << endl |
|
53 |
<< endl |
|
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<< "Note that the PDO information can either originate" << endl |
1142 | 55 |
<< "from the SII or from the CoE communication area. For" << endl |
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<< "slaves, that support configuring PDO assignment and" << endl |
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<< "mapping, the output depends on the last configuration." << endl |
1142 | 58 |
<< endl |
59 |
<< "Command-specific options:" << endl |
|
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<< " --alias -a <alias>" << endl |
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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<< " the 'slaves' command." << endl |
1142 | 63 |
<< endl |
64 |
<< numericInfo(); |
|
65 |
||
66 |
return str.str(); |
|
67 |
} |
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68 |
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69 |
/****************************************************************************/ |
|
70 |
||
71 |
void CommandXml::execute(MasterDevice &m, const StringVector &args) |
|
72 |
{ |
|
1151 | 73 |
SlaveList slaves; |
74 |
SlaveList::const_iterator si; |
|
75 |
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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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81 |
|
1142 | 82 |
m.open(MasterDevice::Read); |
1151 | 83 |
slaves = selectedSlaves(m); |
1142 | 84 |
|
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85 |
cout << "<?xml version=\"1.0\" ?>" << endl; |
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86 |
if (slaves.size() > 1) { |
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cout << "<EtherCATInfoList>" << endl; |
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} |
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89 |
|
1151 | 90 |
for (si = slaves.begin(); si != slaves.end(); si++) { |
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generateSlaveXml(m, *si, slaves.size() > 1 ? 1 : 0); |
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92 |
} |
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93 |
|
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94 |
if (slaves.size() > 1) { |
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95 |
cout << "</EtherCATInfoList>" << endl; |
1142 | 96 |
} |
97 |
} |
|
98 |
||
99 |
/****************************************************************************/ |
|
100 |
||
1151 | 101 |
void CommandXml::generateSlaveXml( |
102 |
MasterDevice &m, |
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103 |
const ec_ioctl_slave_t &slave, |
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104 |
unsigned int indent |
1151 | 105 |
) |
1142 | 106 |
{ |
107 |
ec_ioctl_slave_sync_t sync; |
|
108 |
ec_ioctl_slave_sync_pdo_t pdo; |
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string pdoType, in; |
1142 | 110 |
ec_ioctl_slave_sync_pdo_entry_t entry; |
111 |
unsigned int i, j, k; |
|
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112 |
|
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113 |
for (i = 0; i < indent; i++) { |
758a9bd3e549
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114 |
in += " "; |
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115 |
} |
1142 | 116 |
|
117 |
cout |
|
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118 |
<< in << "<EtherCATInfo>" << endl |
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119 |
<< in << " <!-- Slave " << slave.position << " -->" << endl |
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120 |
<< in << " <Vendor>" << endl |
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121 |
<< in << " <Id>" << slave.vendor_id << "</Id>" << endl |
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122 |
<< in << " </Vendor>" << endl |
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123 |
<< in << " <Descriptions>" << endl |
758a9bd3e549
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124 |
<< in << " <Devices>" << endl |
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125 |
<< in << " <Device>" << endl |
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126 |
<< in << " <Type ProductCode=\"#x" |
1142 | 127 |
<< hex << setfill('0') << setw(8) << slave.product_code |
128 |
<< "\" RevisionNo=\"#x" |
|
129 |
<< hex << setfill('0') << setw(8) << slave.revision_number |
|
130 |
<< "\">" << slave.order << "</Type>" << endl; |
|
131 |
||
132 |
if (strlen(slave.name)) { |
|
133 |
cout |
|
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|
134 |
<< in << " <Name><![CDATA[" |
1142 | 135 |
<< slave.name |
136 |
<< "]]></Name>" << endl; |
|
137 |
} |
|
138 |
||
139 |
for (i = 0; i < slave.sync_count; i++) { |
|
1151 | 140 |
m.getSync(&sync, slave.position, i); |
1142 | 141 |
|
142 |
cout |
|
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|
143 |
<< in << " <Sm Enable=\"" << dec << (unsigned int) sync.enable |
1142 | 144 |
<< "\" StartAddress=\"" << sync.physical_start_address |
145 |
<< "\" ControlByte=\"" << (unsigned int) sync.control_register |
|
146 |
<< "\" DefaultSize=\"" << sync.default_size |
|
147 |
<< "\" />" << endl; |
|
148 |
} |
|
149 |
||
150 |
for (i = 0; i < slave.sync_count; i++) { |
|
1151 | 151 |
m.getSync(&sync, slave.position, i); |
1142 | 152 |
|
153 |
for (j = 0; j < sync.pdo_count; j++) { |
|
1151 | 154 |
m.getPdo(&pdo, slave.position, i, j); |
1142 | 155 |
pdoType = (sync.control_register & 0x04 ? "R" : "T"); |
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parents:
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156 |
pdoType += "xPdo"; // last 2 letters lowercase in XML! |
1142 | 157 |
|
158 |
cout |
|
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|
159 |
<< in << " <" << pdoType |
1142 | 160 |
<< " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl |
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|
161 |
<< in << " <Index>#x" |
1142 | 162 |
<< hex << setfill('0') << setw(4) << pdo.index |
163 |
<< "</Index>" << endl |
|
1474
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parents:
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|
164 |
<< in << " <Name>" << pdo.name << "</Name>" << endl; |
1142 | 165 |
|
166 |
for (k = 0; k < pdo.entry_count; k++) { |
|
1151 | 167 |
m.getPdoEntry(&entry, slave.position, i, j, k); |
1142 | 168 |
|
169 |
cout |
|
1474
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parents:
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|
170 |
<< in << " <Entry>" << endl |
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|
171 |
<< in << " <Index>#x" |
1142 | 172 |
<< hex << setfill('0') << setw(4) << entry.index |
173 |
<< "</Index>" << endl; |
|
174 |
if (entry.index) |
|
175 |
cout |
|
1474
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'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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parents:
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|
176 |
<< in << " <SubIndex>" |
1142 | 177 |
<< dec << (unsigned int) entry.subindex |
178 |
<< "</SubIndex>" << endl; |
|
179 |
||
180 |
cout |
|
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|
181 |
<< in << " <BitLen>" |
1142 | 182 |
<< dec << (unsigned int) entry.bit_length |
183 |
<< "</BitLen>" << endl; |
|
184 |
||
185 |
if (entry.index) { |
|
186 |
cout |
|
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parents:
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|
187 |
<< in << " <Name>" << entry.name |
1142 | 188 |
<< "</Name>" << endl |
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|
189 |
<< in << " <DataType>"; |
1142 | 190 |
|
191 |
if (entry.bit_length == 1) { |
|
192 |
cout << "BOOL"; |
|
193 |
} else if (!(entry.bit_length % 8)) { |
|
194 |
if (entry.bit_length <= 64) |
|
195 |
cout << "UINT" << (unsigned int) entry.bit_length; |
|
196 |
else |
|
197 |
cout << "STRING(" |
|
198 |
<< (unsigned int) (entry.bit_length / 8) |
|
199 |
<< ")"; |
|
200 |
} else { |
|
201 |
cerr << "Invalid bit length " |
|
202 |
<< (unsigned int) entry.bit_length << endl; |
|
203 |
} |
|
204 |
||
205 |
cout << "</DataType>" << endl; |
|
206 |
} |
|
207 |
||
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|
208 |
cout << in << " </Entry>" << endl; |
1142 | 209 |
} |
210 |
||
211 |
cout |
|
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|
212 |
<< in << " </" << pdoType << ">" << endl; |
1142 | 213 |
} |
214 |
} |
|
215 |
||
216 |
cout |
|
1474
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
217 |
<< in << " </Device>" << endl |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
218 |
<< in << " </Devices>" << endl |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
219 |
<< in << " </Descriptions>" << endl |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
220 |
<< in << "</EtherCATInfo>" << endl; |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
221 |
} |
758a9bd3e549
'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents:
1373
diff
changeset
|
222 |
|
1142 | 223 |
/*****************************************************************************/ |