/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandMaster.h"
#include "MasterDevice.h"
#define MAX_TIME_STR_SIZE 50
/*****************************************************************************/
CommandMaster::CommandMaster():
Command("master", "Show master and Ethernet device information.")
{
}
/****************************************************************************/
string CommandMaster::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Command-specific options:" << endl
<< " --master -m <indices> Master indices. A comma-separated" << endl
<< " list with ranges is supported." << endl
<< " Example: 1,4,5,7-9. Default: - (all)."
<< endl << endl
<< numericInfo();
return str.str();
}
/****************************************************************************/
void CommandMaster::execute(const StringVector &args)
{
MasterIndexList masterIndices;
ec_ioctl_master_t data;
stringstream err;
unsigned int i, j;
time_t epoch;
char time_str[MAX_TIME_STR_SIZE + 1];
size_t time_str_size;
if (args.size()) {
err << "'" << getName() << "' takes no arguments!";
throwInvalidUsageException(err);
}
masterIndices = getMasterIndices();
MasterIndexList::const_iterator mi;
for (mi = masterIndices.begin();
mi != masterIndices.end(); mi++) {
MasterDevice m(*mi);
m.open(MasterDevice::Read);
m.getMaster(&data);
cout
<< "Master" << m.getIndex() << endl
<< " Phase: ";
switch (data.phase) {
case 0: cout << "Waiting for device..."; break;
case 1: cout << "Idle"; break;
case 2: cout << "Operation"; break;
default: cout << "???";
}
cout << endl
<< " Active: " << (data.active ? "yes" : "no") << endl
<< " Slaves: " << data.slave_count << endl
<< " Ethernet devices:" << endl;
for (i = 0; i < 2; i++) {
cout << " " << (i == 0 ? "Main" : "Backup") << ": ";
if (data.devices[i].address[0] == 0x00
&& data.devices[i].address[1] == 0x00
&& data.devices[i].address[2] == 0x00
&& data.devices[i].address[3] == 0x00
&& data.devices[i].address[4] == 0x00
&& data.devices[i].address[5] == 0x00) {
cout << "None.";
} else {
unsigned int lost =
data.devices[i].tx_count - data.devices[i].rx_count;
if (lost == 1) {
// allow one frame travelling
lost = 0;
}
cout << hex << setfill('0')
<< setw(2) << (unsigned int) data.devices[i].address[0]
<< ":"
<< setw(2) << (unsigned int) data.devices[i].address[1]
<< ":"
<< setw(2) << (unsigned int) data.devices[i].address[2]
<< ":"
<< setw(2) << (unsigned int) data.devices[i].address[3]
<< ":"
<< setw(2) << (unsigned int) data.devices[i].address[4]
<< ":"
<< setw(2) << (unsigned int) data.devices[i].address[5]
<< " ("
<< (data.devices[i].attached ? "attached" : "waiting...")
<< ")" << endl << dec
<< " Link: "
<< (data.devices[i].link_state ? "UP" : "DOWN") << endl
<< " Tx frames: "
<< data.devices[i].tx_count << endl
<< " Rx frames: "
<< data.devices[i].rx_count << endl
<< " Lost frames: " << lost << endl
<< " Tx bytes: "
<< data.devices[i].tx_bytes << endl
<< " Tx errors: "
<< data.devices[i].tx_errors << endl
<< " Tx frame rate [1/s]: "
<< setfill(' ') << setprecision(0) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
cout <<
setw(5) << data.devices[i].tx_frame_rates[j] / 1000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
}
cout << endl
<< " Tx rate [KByte/s]: "
<< setprecision(1) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
cout << setw(5)
<< data.devices[i].tx_byte_rates[j] / 1024000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
}
cout << endl
<< " Loss rate [1/s]: "
<< setprecision(0) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
cout << setw(5) << data.devices[i].loss_rates[j] / 1000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
}
cout << endl
<< " Frame loss [%]: "
<< setprecision(1) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
double perc = 0.0;
if (data.devices[i].tx_frame_rates[j]) {
perc = 100.0 * data.devices[i].loss_rates[j] /
data.devices[i].tx_frame_rates[j];
}
cout << setw(5) << perc;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
}
cout << setprecision(0) << endl;
}
cout << endl;
}
cout << " Distributed clocks:" << endl
<< " Reference clock: ";
if (data.ref_clock != 0xffff) {
cout << "Slave " << dec << data.ref_clock;
} else {
cout << "None";
}
cout << endl
<< " Application time: " << data.app_time << endl
<< " ";
epoch = data.app_time / 1000000000 + 946684800ULL;
time_str_size = strftime(time_str, MAX_TIME_STR_SIZE,
"%Y-%m-%d %H:%M:%S", gmtime(&epoch));
cout << string(time_str, time_str_size) << "."
<< setfill('0') << setw(9) << data.app_time % 1000000000 << endl;
}
}
/*****************************************************************************/