Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/*****************************************************************************
*
* $Id$
*
* 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;
}
}
/*****************************************************************************/