/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2014 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 <string.h>
using namespace std;
#include "CommandXml.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandXml::CommandXml():
Command("xml", "Generate slave information XML.")
{
}
/*****************************************************************************/
string CommandXml::helpString(const string &binaryBaseName) const
{
stringstream str;
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Note that the PDO information can either originate" << endl
<< "from the SII or from the CoE communication area. For" << endl
<< "slaves, that support configuring PDO assignment and" << endl
<< "mapping, the output depends on the last configuration." << 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 CommandXml::execute(const StringVector &args)
{
SlaveList slaves;
SlaveList::const_iterator si;
if (args.size()) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
throwInvalidUsageException(err);
}
MasterDevice m(getSingleMasterIndex());
m.open(MasterDevice::Read);
slaves = selectedSlaves(m);
cout << "<?xml version=\"1.0\" ?>" << endl;
if (slaves.size() > 1) {
cout << "<EtherCATInfoList>" << endl;
}
for (si = slaves.begin(); si != slaves.end(); si++) {
generateSlaveXml(m, *si, slaves.size() > 1 ? 1 : 0);
}
if (slaves.size() > 1) {
cout << "</EtherCATInfoList>" << endl;
}
}
/****************************************************************************/
void CommandXml::generateSlaveXml(
MasterDevice &m,
const ec_ioctl_slave_t &slave,
unsigned int indent
)
{
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
string pdoType, in;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
for (i = 0; i < indent; i++) {
in += " ";
}
cout
<< in << "<EtherCATInfo>" << endl
<< in << " <!-- Slave " << dec << slave.position << " -->" << endl
<< in << " <Vendor>" << endl
<< in << " <Id>" << slave.vendor_id << "</Id>" << endl
<< in << " </Vendor>" << endl
<< in << " <Descriptions>" << endl
<< in << " <Devices>" << endl
<< in << " <Device>" << endl
<< in << " <Type ProductCode=\"#x"
<< hex << setfill('0') << setw(8) << slave.product_code
<< "\" RevisionNo=\"#x"
<< hex << setfill('0') << setw(8) << slave.revision_number
<< "\">" << slave.order << "</Type>" << endl;
if (strlen(slave.name)) {
cout
<< in << " <Name><![CDATA["
<< slave.name
<< "]]></Name>" << endl;
}
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
cout
<< in << " <Sm Enable=\""
<< dec << (unsigned int) sync.enable
<< "\" StartAddress=\"#x" << hex << sync.physical_start_address
<< "\" ControlByte=\"#x"
<< hex << (unsigned int) sync.control_register
<< "\" DefaultSize=\"" << dec << sync.default_size
<< "\" />" << endl;
}
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
pdoType = (sync.control_register & 0x04 ? "R" : "T");
pdoType += "xPdo"; // last 2 letters lowercase in XML!
cout
<< in << " <" << pdoType
<< " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl
<< in << " <Index>#x"
<< hex << setfill('0') << setw(4) << pdo.index
<< "</Index>" << endl
<< in << " <Name>" << pdo.name << "</Name>" << endl;
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
cout
<< in << " <Entry>" << endl
<< in << " <Index>#x"
<< hex << setfill('0') << setw(4) << entry.index
<< "</Index>" << endl;
if (entry.index)
cout
<< in << " <SubIndex>"
<< dec << (unsigned int) entry.subindex
<< "</SubIndex>" << endl;
cout
<< in << " <BitLen>"
<< dec << (unsigned int) entry.bit_length
<< "</BitLen>" << endl;
if (entry.index) {
cout
<< in << " <Name>" << entry.name
<< "</Name>" << endl
<< in << " <DataType>";
if (entry.bit_length == 1) {
cout << "BOOL";
} else if (!(entry.bit_length % 8)) {
if (entry.bit_length <= 64) {
cout << "UINT" << (unsigned int) entry.bit_length;
} else {
cout << "STRING("
<< (unsigned int) (entry.bit_length / 8)
<< ")";
}
} else {
cout << "BIT" << (unsigned int) entry.bit_length;
}
cout << "</DataType>" << endl;
}
cout << in << " </Entry>" << endl;
}
cout
<< in << " </" << pdoType << ">" << endl;
}
}
cout
<< in << " </Device>" << endl
<< in << " </Devices>" << endl
<< in << " </Descriptions>" << endl
<< in << "</EtherCATInfo>" << endl;
}
/*****************************************************************************/