/*****************************************************************************
*
* $Id$
*
* 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 <map>
#include <algorithm>
using namespace std;
#include "CommandGraph.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandGraph::CommandGraph():
Command("graph", "Output the bus topology as a graph.")
{
}
/*****************************************************************************/
string CommandGraph::helpString(const string &binaryBaseName) const
{
stringstream str;
str
<< binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< binaryBaseName << " " << getName() << " [OPTIONS] <INFO>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "The bus is output in DOT language (see" << endl
<< "http://www.graphviz.org/doc/info/lang.html), which can" << endl
<< "be processed with the tools from the Graphviz" << endl
<< "package. Example:" << endl
<< endl
<< " ethercat graph | dot -Tsvg > bus.svg" << endl
<< endl
<< "See 'man dot' for more information." << endl
<< endl
<< "Additional information at edges and nodes is selected via" << endl
<< "the first argument:" << endl
<< " DC - DC timing" << endl
<< " CRC - CRC error register information" << endl
<< endl;
return str.str();
}
/****************************************************************************/
enum Info {
None,
DC,
CRC
};
#define REG_SIZE (20)
struct CrcInfo {
unsigned int crc[EC_MAX_PORTS];
unsigned int phy[EC_MAX_PORTS];
unsigned int fwd[EC_MAX_PORTS];
unsigned int lnk[EC_MAX_PORTS];
};
void CommandGraph::execute(const StringVector &args)
{
Info info = None;
ec_ioctl_master_t master;
typedef vector<ec_ioctl_slave_t> SlaveVector;
SlaveVector slaves;
typedef vector<CrcInfo> CrcInfoVector;
CrcInfoVector crcInfos;
ec_ioctl_slave_t slave;
SlaveVector::const_iterator si;
map<int, string> portMedia;
map<int, string>::const_iterator mi;
map<int, int> mediaWeights;
map<int, int>::const_iterator wi;
portMedia[EC_PORT_MII] = "MII";
mediaWeights[EC_PORT_MII] = 1;
portMedia[EC_PORT_EBUS] = "EBUS";
mediaWeights[EC_PORT_EBUS] = 5;
if (args.size() > 1) {
stringstream err;
err << "'" << getName() << "' takes either one or no arguments!";
throwInvalidUsageException(err);
}
if (args.size() == 1) {
string arg = args[0];
transform(arg.begin(), arg.end(),
arg.begin(), (int (*) (int)) std::toupper);
if (arg == "DC") {
info = DC;
}
else if (arg == "CRC") {
info = CRC;
}
else {
stringstream err;
err << "Unknown argument \"" << args[0] << "\"!";
throwInvalidUsageException(err);
}
}
MasterDevice m(getSingleMasterIndex());
m.open(MasterDevice::Read);
m.getMaster(&master);
for (unsigned int i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
slaves.push_back(slave);
}
if (info == CRC) {
uint8_t data[REG_SIZE];
ec_ioctl_slave_reg_t io;
io.emergency = 0;
io.address = 0x0300;
io.size = REG_SIZE;
io.data = data;
for (unsigned int i = 0; i < master.slave_count; i++) {
io.slave_position = i;
try {
m.readReg(&io);
} catch (MasterDeviceException &e) {
throw e;
}
CrcInfo crcInfo;
for (int port = 0; port < EC_MAX_PORTS; port++) {
crcInfo.crc[port] = io.data[ 0 + port * 2];
crcInfo.phy[port] = io.data[ 1 + port * 2];
crcInfo.fwd[port] = io.data[ 8 + port];
crcInfo.lnk[port] = io.data[16 + port];
}
crcInfos.push_back(crcInfo);
}
}
cout << "/* EtherCAT bus graph. Generated by 'ethercat graph'. */" << endl
<< endl
<< "strict graph bus {" << endl
<< " rankdir=\"LR\"" << endl
<< " ranksep=0.8" << endl
<< " nodesep=0.8" << endl
<< " node [fontname=\"Helvetica\"]" << endl
<< " edge [fontname=\"Helvetica\",fontsize=\"10\"]" << endl
<< endl
<< " master [label=\"EtherCAT\\nMaster\"]" << endl;
if (slaves.size()) {
cout << " master -- slave0";
mi = portMedia.find(slaves.front().ports[0].desc);
if (mi != portMedia.end())
cout << "[label=\"" << mi->second << "\"]";
cout << endl;
}
cout << endl;
uint16_t alias = 0x0000;
uint16_t pos = 0;
for (si = slaves.begin(); si != slaves.end(); si++) {
if (si->alias) {
alias = si->alias;
pos = 0;
}
cout << " slave" << si->position << " [shape=\"box\""
<< ",label=\"" << si->position
<< " / " << alias << ":" << pos;
if (string(si->order).size())
cout << "\\n" << si->order;
if (info == DC && si->dc_supported) {
cout << "\\nDC: ";
if (si->has_dc_system_time) {
switch (si->dc_range) {
case EC_DC_32:
cout << "32 bit";
break;
case EC_DC_64:
cout << "64 bit";
break;
default:
break;
}
} else {
cout << "Delay meas.";
}
cout << "\\nDelay: " << si->transmission_delay << " ns";
}
cout << "\"]" << endl;
for (int port = 1; port < EC_MAX_PORTS; port++) {
uint16_t next_pos = si->ports[port].next_slave;
if (next_pos == 0xffff) {
continue;
}
if (next_pos >= slaves.size()) {
cerr << "Invalid next slave pointer." << endl;
continue;
}
ec_ioctl_slave_t *next = &slaves[next_pos];
cout << " slave" << si->position << " -- "
<< "slave" << next_pos << " [taillabel=\"" << port;
if (info == DC && si->dc_supported) {
cout << " [" << si->ports[port].delay_to_next_dc << "]";
}
if (info == CRC) {
CrcInfo *crcInfo = &crcInfos[si->position];
cout << " [" << crcInfo->crc[port] << "/"
<< crcInfo->fwd[port] << "]";
}
cout << "\",headlabel=\"0";
if (info == DC && next->dc_supported) {
cout << " [" << next->ports[0].delay_to_next_dc << "]";
}
if (info == CRC) {
CrcInfo *crcInfo = &crcInfos[next_pos];
cout << " [" << crcInfo->crc[0] << "/"
<< crcInfo->fwd[0] << "]";
}
cout << "\"";
mi = portMedia.find(si->ports[port].desc);
if (mi == portMedia.end() && next) {
/* Try medium of next-hop slave. */
mi = portMedia.find(next->ports[0].desc);
}
if (mi != portMedia.end())
cout << ",label=\"" << mi->second << "\"";
wi = mediaWeights.find(si->ports[port].desc);
if (wi != mediaWeights.end())
cout << ",weight=\"" << wi->second << "\"";
cout << "]" << endl;
}
cout << endl;
pos++;
}
cout << "}" << endl;
}
/*****************************************************************************/