/*****************************************************************************
*
* $Id$
*
* 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.
*
* vim: expandtab
*
****************************************************************************/
#include <list>
#include <iostream>
#include <iomanip>
#include <sstream>
using namespace std;
#include "CommandConfig.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandConfig::CommandConfig():
Command("config", "Show slave configurations.")
{
}
/*****************************************************************************/
string CommandConfig::helpString(const string &binaryBaseName) const
{
stringstream str;
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Without the --verbose option, slave configurations are" << endl
<< "output one-per-line. Example:" << endl
<< endl
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl
<< "| | | |" << endl
<< "| | | \\- Application-layer" << endl
<< "| | | state of the attached" << endl
<< "| | | slave, or '-', if no" << endl
<< "| | | slave is attached." << endl
<< "| | \\- Absolute decimal ring" << endl
<< "| | position of the attached" << endl
<< "| | slave, or '-' if none" << endl
<< "| | attached." << endl
<< "| \\- Expected vendor ID and product code (both" << endl
<< "| hexadecimal)." << endl
<< "\\- Alias address and relative position (both decimal)." << endl
<< endl
<< "With the --verbose option given, the configured PDOs and" << endl
<< "SDOs are output in addition." << endl
<< endl
<< "Configuration selection:" << endl
<< " Slave configurations can be selected with" << endl
<< " the --alias and --position parameters as follows:" << endl
<< endl
<< " 1) If neither the --alias nor the --position option" << endl
<< " is given, all slave configurations are displayed." << endl
<< " 2) If only the --position option is given, an alias" << endl
<< " of zero is assumed (see 4))." << endl
<< " 3) If only the --alias option is given, all slave" << endl
<< " configurations with the given alias address" << endl
<< " are displayed." << endl
<< " 4) If both the --alias and the --position option are" << endl
<< " given, the selection can match a single" << endl
<< " configuration, that is displayed, if it exists." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias> Configuration alias (see above)." << endl
<< " --position -p <pos> Relative position (see above)." << endl
<< " --verbose -v Show detailed configurations." << endl
<< endl
<< numericInfo();
return str.str();
}
/*****************************************************************************/
/** Lists the bus configuration.
*/
void CommandConfig::execute(const StringVector &args)
{
MasterIndexList masterIndices;
bool doIndent;
ConfigList configs;
if (args.size()) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
throwInvalidUsageException(err);
}
masterIndices = getMasterIndices();
doIndent = masterIndices.size() > 1;
MasterIndexList::const_iterator mi;
for (mi = masterIndices.begin();
mi != masterIndices.end(); mi++) {
MasterDevice m(*mi);
m.open(MasterDevice::Read);
configs = selectedConfigs(m);
if (configs.size() && doIndent) {
cout << "Master" << dec << m.getIndex() << endl;
}
if (getVerbosity() == Verbose) {
showDetailedConfigs(m, configs, doIndent);
} else {
listConfigs(m, configs, doIndent);
}
}
}
/*****************************************************************************/
/** Lists the complete bus configuration.
*/
void CommandConfig::showDetailedConfigs(
MasterDevice &m,
const ConfigList &configList,
bool doIndent
)
{
ConfigList::const_iterator configIter;
unsigned int i, j, k, l;
ec_ioctl_slave_t slave;
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
ec_ioctl_config_idn_t idn;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
configIter != configList.end();
configIter++) {
cout << indent
<< "Alias: "
<< dec << configIter->alias << endl << indent
<< "Position: " << configIter->position << endl << indent
<< "Vendor Id: 0x"
<< hex << setfill('0')
<< setw(8) << configIter->vendor_id << endl << indent
<< "Product code: 0x"
<< setw(8) << configIter->product_code << endl << indent
<< "Attached slave: ";
if (configIter->slave_position != -1) {
m.getSlave(&slave, configIter->slave_position);
cout << dec << configIter->slave_position
<< " (" << alStateString(slave.al_state) << ")" << endl;
} else {
cout << "none" << endl;
}
cout << indent << "Watchdog divider: ";
if (configIter->watchdog_divider) {
cout << dec << configIter->watchdog_divider;
} else {
cout << "(Default)";
}
cout << endl << indent
<< "Watchdog intervals: ";
if (configIter->watchdog_intervals) {
cout << dec << configIter->watchdog_intervals;
} else {
cout << "(Default)";
}
cout << endl;
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
if (configIter->syncs[j].pdo_count) {
cout << indent << "SM" << dec << j << ", Dir: "
<< (configIter->syncs[j].dir == EC_DIR_INPUT
? "Input" : "Output") << ", Watchdog: ";
switch (configIter->syncs[j].watchdog_mode) {
case EC_WD_DEFAULT: cout << "Default"; break;
case EC_WD_ENABLE: cout << "Enable"; break;
case EC_WD_DISABLE: cout << "Disable"; break;
default: cout << "???"; break;
}
cout << endl;
for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
m.getConfigPdo(&pdo, configIter->config_index, j, k);
cout << indent << " PDO 0x" << hex << setfill('0')
<< setw(4) << pdo.index << endl;
for (l = 0; l < pdo.entry_count; l++) {
m.getConfigPdoEntry(&entry,
configIter->config_index, j, k, l);
cout << indent << " PDO entry 0x"
<< hex << setfill('0')
<< setw(4) << entry.index << ":"
<< setw(2) << (unsigned int) entry.subindex
<< ", " << dec << setfill(' ')
<< setw(2) << (unsigned int) entry.bit_length
<< " bit" << endl;
}
}
}
}
cout << indent << "SDO configuration:" << endl;
if (configIter->sdo_count) {
for (j = 0; j < configIter->sdo_count; j++) {
m.getConfigSdo(&sdo, configIter->config_index, j);
cout << indent << " 0x"
<< hex << setfill('0')
<< setw(4) << sdo.index;
if (sdo.complete_access) {
cout << " C";
}
else {
cout << ":" << setw(2) << (unsigned int) sdo.subindex;
}
cout << ", " << dec << sdo.size << " byte" << endl;
cout << indent << " " << hex;
for (i = 0; i < min((uint32_t) sdo.size,
(uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {
cout << setw(2) << (unsigned int) sdo.data[i];
if ((i + 1) % 16 == 0 && i < sdo.size - 1) {
cout << endl << indent << " ";
} else {
cout << " ";
}
}
cout << endl;
if (sdo.size > EC_MAX_SDO_DATA_SIZE) {
cout << indent << " ..." << endl;
}
}
} else {
cout << indent << " None." << endl;
}
cout << indent << "IDN configuration:" << endl;
if (configIter->idn_count) {
for (j = 0; j < configIter->idn_count; j++) {
m.getConfigIdn(&idn, configIter->config_index, j);
cout << indent << " Drive " << (unsigned int) idn.drive_no
<< ", " << outputIdn(idn.idn)
<< ", " << dec << idn.size << " byte" << endl;
cout << indent << " " << hex << setfill('0');
for (i = 0; i < min((uint32_t) idn.size,
(uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
cout << setw(2) << (unsigned int) idn.data[i];
if ((i + 1) % 16 == 0 && i < idn.size - 1) {
cout << endl << indent << " ";
} else {
cout << " ";
}
}
cout << endl;
if (idn.size > EC_MAX_IDN_DATA_SIZE) {
cout << indent << " ..." << endl;
}
}
} else {
cout << indent << " None." << endl;
}
if (configIter->dc_assign_activate) {
int i;
cout << indent << "DC configuration:" << endl
<< indent << " AssignActivate: 0x" << hex << setfill('0')
<< setw(4) << configIter->dc_assign_activate << endl;
cout << indent << " Cycle [ns] Shift [ns]" << endl;
for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
cout << indent << " SYNC" << dec << i << " "
<< setfill(' ') << right
<< setw(11) << configIter->dc_sync[i].cycle_time
<< " "
<< setw(11) << configIter->dc_sync[i].shift_time
<< endl;
}
}
cout << endl;
}
}
/*****************************************************************************/
/** Lists the bus configuration.
*/
void CommandConfig::listConfigs(
MasterDevice &m,
const ConfigList &configList,
bool doIndent
)
{
ConfigList::const_iterator configIter;
stringstream str;
Info info;
typedef list<Info> InfoList;
InfoList list;
InfoList::const_iterator iter;
unsigned int maxAliasWidth = 0, maxPosWidth = 0,
maxSlavePosWidth = 0, maxStateWidth = 0;
ec_ioctl_slave_t slave;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
configIter != configList.end();
configIter++) {
str << dec << configIter->alias;
info.alias = str.str();
str.clear();
str.str("");
str << configIter->position;
info.pos = str.str();
str.clear();
str.str("");
str << hex << setfill('0')
<< "0x" << setw(8) << configIter->vendor_id
<< "/0x" << setw(8) << configIter->product_code;
info.ident = str.str();
str.clear();
str.str("");
if (configIter->slave_position != -1) {
m.getSlave(&slave, configIter->slave_position);
str << dec << configIter->slave_position;
info.slavePos = str.str();
str.clear();
str.str("");
info.state = alStateString(slave.al_state);
} else {
str << "-";
info.slavePos = str.str();
str.clear();
str.str("");
str << "-";
info.state = str.str();
str.clear();
str.str("");
}
list.push_back(info);
if (info.alias.length() > maxAliasWidth)
maxAliasWidth = info.alias.length();
if (info.pos.length() > maxPosWidth)
maxPosWidth = info.pos.length();
if (info.slavePos.length() > maxSlavePosWidth)
maxSlavePosWidth = info.slavePos.length();
if (info.state.length() > maxStateWidth)
maxStateWidth = info.state.length();
}
for (iter = list.begin(); iter != list.end(); iter++) {
cout << indent << setfill(' ') << right
<< setw(maxAliasWidth) << iter->alias
<< ":" << left
<< setw(maxPosWidth) << iter->pos
<< " "
<< iter->ident
<< " "
<< setw(maxSlavePosWidth) << iter->slavePos << " "
<< setw(maxStateWidth) << iter->state << " "
<< endl;
}
}
/*****************************************************************************/