142 const SlaveList &slaves, |
142 const SlaveList &slaves, |
143 bool doIndent |
143 bool doIndent |
144 ) |
144 ) |
145 { |
145 { |
146 ec_ioctl_master_t master; |
146 ec_ioctl_master_t master; |
147 unsigned int i; |
147 unsigned int i, lastDevice; |
148 ec_ioctl_slave_t slave; |
148 ec_ioctl_slave_t slave; |
149 uint16_t lastAlias, aliasIndex; |
149 uint16_t lastAlias, aliasIndex; |
150 Info info; |
150 Info info; |
151 typedef list<Info> InfoList; |
151 typedef list<Info> InfoList; |
152 InfoList infoList; |
152 InfoList infoList; |
153 InfoList::const_iterator iter; |
153 InfoList::const_iterator iter; |
154 stringstream str; |
154 stringstream str; |
155 unsigned int maxPosWidth = 0, maxAliasWidth = 0, |
155 unsigned int maxPosWidth = 0, maxAliasWidth = 0, |
156 maxRelPosWidth = 0, maxStateWidth = 0; |
156 maxRelPosWidth = 0, maxStateWidth = 0; |
157 string indent(doIndent ? " " : ""); |
157 string indent(doIndent ? " " : ""); |
158 |
158 |
159 m.getMaster(&master); |
159 m.getMaster(&master); |
160 |
160 |
161 lastAlias = 0; |
161 lastAlias = 0; |
162 aliasIndex = 0; |
162 aliasIndex = 0; |
163 for (i = 0; i < master.slave_count; i++) { |
163 for (i = 0; i < master.slave_count; i++) { |
164 m.getSlave(&slave, i); |
164 m.getSlave(&slave, i); |
165 |
165 |
166 if (slave.alias) { |
166 if (slave.alias) { |
167 lastAlias = slave.alias; |
167 lastAlias = slave.alias; |
168 aliasIndex = 0; |
168 aliasIndex = 0; |
169 } |
169 } |
170 |
170 |
182 info.relPos = str.str(); |
182 info.relPos = str.str(); |
183 str.str(""); |
183 str.str(""); |
184 |
184 |
185 info.state = alStateString(slave.al_state); |
185 info.state = alStateString(slave.al_state); |
186 info.flag = (slave.error_flag ? 'E' : '+'); |
186 info.flag = (slave.error_flag ? 'E' : '+'); |
|
187 info.device = slave.device_index; |
187 |
188 |
188 if (strlen(slave.name)) { |
189 if (strlen(slave.name)) { |
189 info.name = slave.name; |
190 info.name = slave.name; |
190 } else { |
191 } else { |
191 str << "0x" << hex << setfill('0') |
192 str << "0x" << hex << setfill('0') |
213 |
214 |
214 if (infoList.size() && doIndent) { |
215 if (infoList.size() && doIndent) { |
215 cout << "Master" << dec << m.getIndex() << endl; |
216 cout << "Master" << dec << m.getIndex() << endl; |
216 } |
217 } |
217 |
218 |
|
219 lastDevice = EC_DEVICE_MAIN; |
218 for (iter = infoList.begin(); iter != infoList.end(); iter++) { |
220 for (iter = infoList.begin(); iter != infoList.end(); iter++) { |
|
221 if (iter->device != lastDevice) { |
|
222 lastDevice = iter->device; |
|
223 cout << "xxx LINK FAILURE xxx" << endl; |
|
224 } |
219 cout << indent << setfill(' ') << right |
225 cout << indent << setfill(' ') << right |
220 << setw(maxPosWidth) << iter->pos << " " |
226 << setw(maxPosWidth) << iter->pos << " " |
221 << setw(maxAliasWidth) << iter->alias |
227 << setw(maxAliasWidth) << iter->alias |
222 << ":" << left |
228 << ":" << left |
223 << setw(maxRelPosWidth) << iter->relPos << " " |
229 << setw(maxRelPosWidth) << iter->relPos << " " |
243 |
249 |
244 if (si->alias) |
250 if (si->alias) |
245 cout << "Alias: " << si->alias << endl; |
251 cout << "Alias: " << si->alias << endl; |
246 |
252 |
247 cout |
253 cout |
|
254 << "Device: " << (si->device_index ? "Backup" : "Main") << endl |
248 << "State: " << alStateString(si->al_state) << endl |
255 << "State: " << alStateString(si->al_state) << endl |
249 << "Flag: " << (si->error_flag ? 'E' : '+') << endl |
256 << "Flag: " << (si->error_flag ? 'E' : '+') << endl |
250 << "Identity:" << endl |
257 << "Identity:" << endl |
251 << " Vendor Id: 0x" |
258 << " Vendor Id: 0x" |
252 << hex << setfill('0') |
259 << hex << setfill('0') |
287 |
294 |
288 cout << "Port Type Link Loop Signal NextSlave"; |
295 cout << "Port Type Link Loop Signal NextSlave"; |
289 if (si->dc_supported) |
296 if (si->dc_supported) |
290 cout << " RxTime [ns] Diff [ns] NextDc [ns]"; |
297 cout << " RxTime [ns] Diff [ns] NextDc [ns]"; |
291 cout << endl; |
298 cout << endl; |
292 |
299 |
293 for (i = 0; i < EC_MAX_PORTS; i++) { |
300 for (i = 0; i < EC_MAX_PORTS; i++) { |
294 cout << " " << i << " " << setfill(' ') << left << setw(4); |
301 cout << " " << i << " " << setfill(' ') << left << setw(4); |
295 switch (si->ports[i].desc) { |
302 switch (si->ports[i].desc) { |
296 case EC_PORT_NOT_IMPLEMENTED: |
303 case EC_PORT_NOT_IMPLEMENTED: |
297 cout << "N/A"; |
304 cout << "N/A"; |
320 if (si->ports[i].next_slave != 0xffff) { |
327 if (si->ports[i].next_slave != 0xffff) { |
321 cout << dec << si->ports[i].next_slave; |
328 cout << dec << si->ports[i].next_slave; |
322 } else { |
329 } else { |
323 cout << "-"; |
330 cout << "-"; |
324 } |
331 } |
325 |
332 |
326 if (si->dc_supported) { |
333 if (si->dc_supported) { |
327 cout << " " << setw(11) << right; |
334 cout << " " << setw(11) << right; |
328 if (!si->ports[i].link.loop_closed) { |
335 if (!si->ports[i].link.loop_closed) { |
329 cout << dec << si->ports[i].receive_time; |
336 cout << dec << si->ports[i].receive_time; |
330 } else { |
337 } else { |
331 cout << "-"; |
338 cout << "-"; |
332 } |
339 } |
333 cout << " " << setw(10); |
340 cout << " " << setw(10); |
334 if (!si->ports[i].link.loop_closed) { |
341 if (!si->ports[i].link.loop_closed) { |
335 cout << si->ports[i].receive_time - si->ports[0].receive_time; |
342 cout << si->ports[i].receive_time - |
|
343 si->ports[0].receive_time; |
336 } else { |
344 } else { |
337 cout << "-"; |
345 cout << "-"; |
338 } |
346 } |
339 cout << " " << setw(10); |
347 cout << " " << setw(10); |
340 if (!si->ports[i].link.loop_closed) { |
348 if (!si->ports[i].link.loop_closed) { |
404 if (si->mailbox_protocols & EC_MBOX_COE) { |
412 if (si->mailbox_protocols & EC_MBOX_COE) { |
405 cout << " CoE details:" << endl |
413 cout << " CoE details:" << endl |
406 << " Enable SDO: " |
414 << " Enable SDO: " |
407 << (si->coe_details.enable_sdo ? "yes" : "no") << endl |
415 << (si->coe_details.enable_sdo ? "yes" : "no") << endl |
408 << " Enable SDO Info: " |
416 << " Enable SDO Info: " |
409 << (si->coe_details.enable_sdo_info ? "yes" : "no") << endl |
417 << (si->coe_details.enable_sdo_info ? "yes" : "no") |
|
418 << endl |
410 << " Enable PDO Assign: " |
419 << " Enable PDO Assign: " |
411 << (si->coe_details.enable_pdo_assign |
420 << (si->coe_details.enable_pdo_assign |
412 ? "yes" : "no") << endl |
421 ? "yes" : "no") << endl |
413 << " Enable PDO Configuration: " |
422 << " Enable PDO Configuration: " |
414 << (si->coe_details.enable_pdo_configuration |
423 << (si->coe_details.enable_pdo_configuration |