/*****************************************************************************
*
* $Id$
*
* 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>
#include <list>
#include <string.h>
using namespace std;
#include "CommandSlaves.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandSlaves::CommandSlaves():
Command("slaves", "Display slaves on the bus.")
{
}
/*****************************************************************************/
string CommandSlaves::helpString(const string &binaryBaseName) const
{
stringstream str;
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "If the --verbose option is not given, the slaves are" << endl
<< "displayed one-per-line. Example:" << endl
<< endl
<< "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V" << endl
<< "| | | | | |" << endl
<< "| | | | | \\- Name from the SII if avaliable," << endl
<< "| | | | | otherwise vendor ID and product" << endl
<< "| | | | | code (both hexadecimal)." << endl
<< "| | | | \\- Error flag. '+' means no error," << endl
<< "| | | | 'E' means that scan or" << endl
<< "| | | | configuration failed." << endl
<< "| | | \\- Current application-layer state." << endl
<< "| | \\- Decimal relative position to the last" << endl
<< "| | slave with an alias address set." << endl
<< "| \\- Decimal alias address of this slave (if set)," << endl
<< "| otherwise of the last slave with an alias set," << endl
<< "| or zero, if no alias was encountered up to this" << endl
<< "| position." << endl
<< "\\- Absolute ring position in the bus." << endl
<< endl
<< "If the --verbose option is given, a detailed (multi-line)" << endl
<< "description is output for each slave." << endl
<< endl
<< "Slave selection:" << endl
<< " Slaves for this and other commands 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 slaves are selected." << endl
<< " 2) If only the --position option is given, it is" << endl
<< " interpreted as an absolute ring position and" << endl
<< " a slave with this position is matched." << endl
<< " 3) If only the --alias option is given, all slaves" << endl
<< " with the given alias address and subsequent" << endl
<< " slaves before a slave with a different alias" << endl
<< " address match (use -p0 if only the slaves" << endl
<< " with the given alias are desired, see 4))." << endl
<< " 4) If both the --alias and the --position option are" << endl
<< " given, the latter is interpreted as relative" << endl
<< " position behind any slave with the given alias." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias> Slave alias (see above)." << endl
<< " --position -p <pos> Slave position (see above)." << endl
<< " --verbose -v Show detailed slave information." << endl
<< endl
<< numericInfo();
return str.str();
}
/****************************************************************************/
void CommandSlaves::execute(const StringVector &args)
{
MasterIndexList masterIndices;
SlaveList slaves;
bool doIndent;
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);
slaves = selectedSlaves(m);
if (getVerbosity() == Verbose) {
showSlaves(m, slaves);
} else {
listSlaves(m, slaves, doIndent);
}
}
}
/****************************************************************************/
void CommandSlaves::listSlaves(
MasterDevice &m,
const SlaveList &slaves,
bool doIndent
)
{
ec_ioctl_master_t master;
unsigned int i;
ec_ioctl_slave_t slave;
uint16_t lastAlias, aliasIndex;
Info info;
typedef list<Info> InfoList;
InfoList infoList;
InfoList::const_iterator iter;
stringstream str;
unsigned int maxPosWidth = 0, maxAliasWidth = 0,
maxRelPosWidth = 0, maxStateWidth = 0;
string indent(doIndent ? " " : "");
m.getMaster(&master);
lastAlias = 0;
aliasIndex = 0;
for (i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
if (slave.alias) {
lastAlias = slave.alias;
aliasIndex = 0;
}
if (slaveInList(slave, slaves)) {
str << dec << i;
info.pos = str.str();
str.clear();
str.str("");
str << lastAlias;
info.alias = str.str();
str.str("");
str << aliasIndex;
info.relPos = str.str();
str.str("");
info.state = alStateString(slave.al_state);
info.flag = (slave.error_flag ? 'E' : '+');
if (strlen(slave.name)) {
info.name = slave.name;
} else {
str << "0x" << hex << setfill('0')
<< setw(8) << slave.vendor_id << ":0x"
<< setw(8) << slave.product_code;
info.name = str.str();
str.str("");
}
infoList.push_back(info);
if (info.pos.length() > maxPosWidth)
maxPosWidth = info.pos.length();
if (info.alias.length() > maxAliasWidth)
maxAliasWidth = info.alias.length();
if (info.relPos.length() > maxRelPosWidth)
maxRelPosWidth = info.relPos.length();
if (info.state.length() > maxStateWidth)
maxStateWidth = info.state.length();
}
aliasIndex++;
}
if (infoList.size() && doIndent) {
cout << "Master" << dec << m.getIndex() << endl;
}
for (iter = infoList.begin(); iter != infoList.end(); iter++) {
cout << indent << setfill(' ') << right
<< setw(maxPosWidth) << iter->pos << " "
<< setw(maxAliasWidth) << iter->alias
<< ":" << left
<< setw(maxRelPosWidth) << iter->relPos << " "
<< setw(maxStateWidth) << iter->state << " "
<< iter->flag << " "
<< iter->name << endl;
}
}
/****************************************************************************/
void CommandSlaves::showSlaves(
MasterDevice &m,
const SlaveList &slaves
)
{
SlaveList::const_iterator si;
int i;
for (si = slaves.begin(); si != slaves.end(); si++) {
cout << "=== Master " << dec << m.getIndex()
<< ", Slave " << dec << si->position << " ===" << endl;
if (si->alias)
cout << "Alias: " << si->alias << endl;
cout
<< "State: " << alStateString(si->al_state) << endl
<< "Flag: " << (si->error_flag ? 'E' : '+') << endl
<< "Identity:" << endl
<< " Vendor Id: 0x"
<< hex << setfill('0')
<< setw(8) << si->vendor_id << endl
<< " Product code: 0x"
<< setw(8) << si->product_code << endl
<< " Revision number: 0x"
<< setw(8) << si->revision_number << endl
<< " Serial number: 0x"
<< setw(8) << si->serial_number << endl;
cout << "DL information:" << endl
<< " FMMU bit operation: "
<< (si->fmmu_bit ? "yes" : "no") << endl
<< " Distributed clocks: ";
if (si->dc_supported) {
if (si->has_dc_system_time) {
cout << "yes, ";
switch (si->dc_range) {
case EC_DC_32:
cout << "32 bit";
break;
case EC_DC_64:
cout << "64 bit";
break;
default:
cout << "???";
}
cout << endl;
} else {
cout << "yes, delay measurement only" << endl;
}
cout << " DC system time transmission delay: "
<< dec << si->transmission_delay << " ns" << endl;
} else {
cout << "no" << endl;
}
cout << "Port Type Link Loop Signal NextSlave";
if (si->dc_supported)
cout << " RxTime [ns] Diff [ns] NextDc [ns]";
cout << endl;
for (i = 0; i < EC_MAX_PORTS; i++) {
cout << " " << i << " " << setfill(' ') << left << setw(4);
switch (si->ports[i].desc) {
case EC_PORT_NOT_IMPLEMENTED:
cout << "N/A";
break;
case EC_PORT_NOT_CONFIGURED:
cout << "N/C";
break;
case EC_PORT_EBUS:
cout << "EBUS";
break;
case EC_PORT_MII:
cout << "MII";
break;
default:
cout << "???";
}
cout << " " << setw(4)
<< (si->ports[i].link.link_up ? "up" : "down")
<< " " << setw(6)
<< (si->ports[i].link.loop_closed ? "closed" : "open")
<< " " << setw(6)
<< (si->ports[i].link.signal_detected ? "yes" : "no")
<< " " << setw(9) << right;
if (si->ports[i].next_slave != 0xffff) {
cout << dec << si->ports[i].next_slave;
} else {
cout << "-";
}
if (si->dc_supported) {
cout << " " << setw(11) << right;
if (!si->ports[i].link.loop_closed) {
cout << dec << si->ports[i].receive_time;
} else {
cout << "-";
}
cout << " " << setw(10);
if (!si->ports[i].link.loop_closed) {
cout << si->ports[i].receive_time - si->ports[0].receive_time;
} else {
cout << "-";
}
cout << " " << setw(10);
if (!si->ports[i].link.loop_closed) {
cout << si->ports[i].delay_to_next_dc;
} else {
cout << "-";
}
}
cout << endl;
}
if (si->mailbox_protocols) {
list<string> protoList;
list<string>::const_iterator protoIter;
cout << "Mailboxes:" << endl
<< " Bootstrap RX: 0x" << setfill('0')
<< hex << setw(4) << si->boot_rx_mailbox_offset << "/"
<< dec << si->boot_rx_mailbox_size
<< ", TX: 0x"
<< hex << setw(4) << si->boot_tx_mailbox_offset << "/"
<< dec << si->boot_tx_mailbox_size << endl
<< " Standard RX: 0x"
<< hex << setw(4) << si->std_rx_mailbox_offset << "/"
<< dec << si->std_rx_mailbox_size
<< ", TX: 0x"
<< hex << setw(4) << si->std_tx_mailbox_offset << "/"
<< dec << si->std_tx_mailbox_size << endl
<< " Supported protocols: ";
if (si->mailbox_protocols & EC_MBOX_AOE) {
protoList.push_back("AoE");
}
if (si->mailbox_protocols & EC_MBOX_EOE) {
protoList.push_back("EoE");
}
if (si->mailbox_protocols & EC_MBOX_COE) {
protoList.push_back("CoE");
}
if (si->mailbox_protocols & EC_MBOX_FOE) {
protoList.push_back("FoE");
}
if (si->mailbox_protocols & EC_MBOX_SOE) {
protoList.push_back("SoE");
}
if (si->mailbox_protocols & EC_MBOX_VOE) {
protoList.push_back("VoE");
}
for (protoIter = protoList.begin(); protoIter != protoList.end();
protoIter++) {
if (protoIter != protoList.begin())
cout << ", ";
cout << *protoIter;
}
cout << endl;
}
if (si->has_general_category) {
cout << "General:" << endl
<< " Group: " << si->group << endl
<< " Image name: " << si->image << endl
<< " Order number: " << si->order << endl
<< " Device name: " << si->name << endl;
if (si->mailbox_protocols & EC_MBOX_COE) {
cout << " CoE details:" << endl
<< " Enable SDO: "
<< (si->coe_details.enable_sdo ? "yes" : "no") << endl
<< " Enable SDO Info: "
<< (si->coe_details.enable_sdo_info ? "yes" : "no") << endl
<< " Enable PDO Assign: "
<< (si->coe_details.enable_pdo_assign
? "yes" : "no") << endl
<< " Enable PDO Configuration: "
<< (si->coe_details.enable_pdo_configuration
? "yes" : "no") << endl
<< " Enable Upload at startup: "
<< (si->coe_details.enable_upload_at_startup
? "yes" : "no") << endl
<< " Enable SDO complete access: "
<< (si->coe_details.enable_sdo_complete_access
? "yes" : "no") << endl;
}
cout << " Flags:" << endl
<< " Enable SafeOp: "
<< (si->general_flags.enable_safeop ? "yes" : "no") << endl
<< " Enable notLRW: "
<< (si->general_flags.enable_not_lrw ? "yes" : "no") << endl
<< " Current consumption: "
<< dec << si->current_on_ebus << " mA" << endl;
}
}
}
/****************************************************************************/
bool CommandSlaves::slaveInList(
const ec_ioctl_slave_t &slave,
const SlaveList &slaves
)
{
SlaveList::const_iterator si;
for (si = slaves.begin(); si != slaves.end(); si++) {
if (si->position == slave.position) {
return true;
}
}
return false;
}
/*****************************************************************************/