Used ERR_PTR() macro for return value of ecrt_request_master().
/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandPdos.h"
/*****************************************************************************/
CommandPdos::CommandPdos():
Command("pdos", "List Sync managers, Pdo assignment and mapping.")
{
}
/*****************************************************************************/
string CommandPdos::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "The information is displayed in three layers, which are" << endl
<< "indented accordingly:" << endl
<< endl
<< "1) Sync managers - Contains the sync manager information" << endl
<< " from the SII: Index, physical start address, default" << endl
<< " size, control register and enable word. Example:" << endl
<< endl
<< " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
<< "Enable 1" << endl
<< endl
<< "2) Assigned Pdos - Pdo direction, hexadecimal index and" << endl
<< " the Pdo name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
<< " are seen from the slave's point of view. Example:" << endl
<< endl
<< " TxPdo 0x1a00 \"Channel1\"" << endl
<< endl
<< "3) Mapped Pdo entries - Pdo entry index and subindex (both" << endl
<< " hexadecimal), the length in bit and the description, if" << endl
<< " available. Example:" << endl
<< endl
<< " Pdo entry 0x3101:01, 8 bit, \"Status\"" << endl
<< endl
<< "Note, that the displayed Pdo assignment and Pdo mapping" << endl
<< "information can either originate from the SII or from the" << endl
<< "CoE communication area." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< endl
<< numericInfo();
return str.str();
}
/****************************************************************************/
void CommandPdos::execute(MasterDevice &m, const StringVector &args)
{
SlaveList slaves;
SlaveList::const_iterator si;
bool showHeader;
m.open(MasterDevice::Read);
slaves = selectedSlaves(m);
showHeader = slaves.size() > 1;
for (si = slaves.begin(); si != slaves.end(); si++) {
listSlavePdos(m, *si, showHeader);
}
}
/****************************************************************************/
void CommandPdos::listSlavePdos(
MasterDevice &m,
const ec_ioctl_slave_t &slave,
bool showHeader
)
{
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
if (showHeader)
cout << "=== Slave " << slave.position << " ===" << endl;
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
cout << "SM" << i << ":"
<< " PhysAddr 0x"
<< hex << setfill('0')
<< setw(4) << sync.physical_start_address
<< ", DefaultSize "
<< dec << setfill(' ') << setw(4) << sync.default_size
<< ", ControlRegister 0x"
<< hex << setfill('0') << setw(2)
<< (unsigned int) sync.control_register
<< ", Enable " << dec << (unsigned int) sync.enable
<< endl;
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
cout << " " << (sync.control_register & 0x04 ? "R" : "T")
<< "xPdo 0x"
<< hex << setfill('0')
<< setw(4) << pdo.index
<< " \"" << pdo.name << "\"" << endl;
if (getVerbosity() == Quiet)
continue;
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
cout << " 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, \"" << entry.name << "\"" << endl;
}
}
}
}
/*****************************************************************************/