fp@1514: /*****************************************************************************
fp@1514:  *
fp@1524:  *  $Id$
fp@1514:  *
fp@1514:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1514:  *
fp@1514:  *  This file is part of the IgH EtherCAT Master.
fp@1514:  *
fp@1514:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1514:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1514:  *  published by the Free Software Foundation.
fp@1514:  *
fp@1514:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1514:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1514:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1514:  *  Public License for more details.
fp@1514:  *
fp@1514:  *  You should have received a copy of the GNU General Public License along
fp@1514:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1514:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1514:  *
fp@1514:  *  ---
fp@1514:  *
fp@1514:  *  The license mentioned above concerns the source code only. Using the
fp@1514:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1514:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1514:  *
fp@1879:  *  vim: expandtab
fp@1879:  *
fp@1514:  ****************************************************************************/
fp@1514: 
fp@1514: #include <iostream>
fp@1514: #include <iomanip>
fp@1514: #include <string.h>
fp@1514: using namespace std;
fp@1514: 
fp@1514: #include "CommandCStruct.h"
fp@1826: #include "MasterDevice.h"
fp@1514: 
fp@1514: /*****************************************************************************/
fp@1514: 
fp@1514: CommandCStruct::CommandCStruct():
fp@1514:     Command("cstruct", "Generate slave PDO information in C language.")
fp@1514: {
fp@1514: }
fp@1514: 
fp@1514: /*****************************************************************************/
fp@1514: 
fp@1968: string CommandCStruct::helpString(const string &binaryBaseName) const
fp@1514: {
fp@1514:     stringstream str;
fp@1514: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
fp@1514:         << endl
fp@1514:         << getBriefDescription() << endl
fp@1514:         << endl
fp@1514:         << "The output C code can be used directly with the" << endl
fp@1514:         << "ecrt_slave_config_pdos() function of the application" << endl
fp@1804:         << "interface." << endl
fp@1514:         << endl
fp@1514:         << "Command-specific options:" << endl
fp@1514:         << "  --alias    -a <alias>" << endl
fp@1514:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1514:         << "                         the 'slaves' command." << endl
fp@1514:         << endl
fp@1514:         << numericInfo();
fp@1514: 
fp@1514:     return str.str();
fp@1514: }
fp@1514: 
fp@1514: /****************************************************************************/
fp@1514: 
fp@1826: void CommandCStruct::execute(const StringVector &args)
fp@1514: {
fp@1879:     MasterIndexList masterIndices;
fp@1514:     SlaveList slaves;
fp@1514:     SlaveList::const_iterator si;
fp@1514: 
fp@1514:     if (args.size()) {
fp@1514:         stringstream err;
fp@1514:         err << "'" << getName() << "' takes no arguments!";
fp@1514:         throwInvalidUsageException(err);
fp@1514:     }
fp@1514: 
fp@1879:     masterIndices = getMasterIndices();
fp@1826:     MasterIndexList::const_iterator mi;
fp@1869:     for (mi = masterIndices.begin();
fp@1869:             mi != masterIndices.end(); mi++) {
fp@1826:         MasterDevice m(*mi);
fp@1826:         m.open(MasterDevice::Read);
fp@1826:         slaves = selectedSlaves(m);
fp@1826: 
fp@1826:         for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1826:             generateSlaveCStruct(m, *si);
fp@1826:         }
fp@1514:     }
fp@1514: }
fp@1514: 
fp@1514: /****************************************************************************/
fp@1514: 
fp@1514: void CommandCStruct::generateSlaveCStruct(
fp@1514:         MasterDevice &m,
fp@1514:         const ec_ioctl_slave_t &slave
fp@1514:         )
fp@1514: {
fp@1514:     ec_ioctl_slave_sync_t sync;
fp@1514:     ec_ioctl_slave_sync_pdo_t pdo;
fp@1514:     ec_ioctl_slave_sync_pdo_entry_t entry;
fp@1514:     unsigned int i, j, k, pdo_pos = 0, entry_pos = 0;
fp@1514:     stringstream id, syncs, pdos, entries;
fp@1514: 
fp@1514:     if (!slave.sync_count)
fp@1514:         return;
fp@1514: 
fp@1514:     id << "slave_" << dec << slave.position << "_";
fp@1514: 
fp@1514:     for (i = 0; i < slave.sync_count; i++) {
fp@1514:         m.getSync(&sync, slave.position, i);
fp@1514: 
fp@1949:         syncs << "    {" << dec << sync.sync_index
fp@1514:             << ", " << (EC_READ_BIT(&sync.control_register, 2) ?
fp@1514:                     "EC_DIR_OUTPUT" : "EC_DIR_INPUT")
fp@1514:             << ", " << dec << (unsigned int) sync.pdo_count
fp@1514:             << ", ";
fp@1514:         if (sync.pdo_count) {
fp@1514:             syncs << id.str() << "pdos + " << dec << pdo_pos;
fp@1514:         } else {
fp@1514:             syncs << "NULL";
fp@1514:         }
fp@1514:         syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ?
fp@1514:                 "EC_WD_ENABLE" : "EC_WD_DISABLE")
fp@1514:             << "},";
fp@1514:         syncs << endl;
fp@1514:         pdo_pos += sync.pdo_count;
fp@1514: 
fp@1514:         for (j = 0; j < sync.pdo_count; j++) {
fp@1514:             m.getPdo(&pdo, slave.position, i, j);
fp@1514: 
fp@1949:             pdos << "    {0x" << hex << setfill('0')
fp@1514:                 << setw(4) << pdo.index
fp@1514:                 << ", " << dec << (unsigned int) pdo.entry_count
fp@1514:                 << ", ";
fp@1514:                 if (pdo.entry_count) {
fp@1514:                     pdos << id.str() << "pdo_entries + " << dec << entry_pos;
fp@1514:                 } else {
fp@1514:                     pdos << "NULL";
fp@1514:                 }
fp@1514:             pdos << "},";
fp@1514:             if (strlen((const char *) pdo.name)) {
fp@1514:                 pdos << " /* " << pdo.name << " */";
fp@1514:             }
fp@1514:             pdos << endl;
fp@1514:             entry_pos += pdo.entry_count;
fp@1514: 
fp@1514:             for (k = 0; k < pdo.entry_count; k++) {
fp@1514:                 m.getPdoEntry(&entry, slave.position, i, j, k);
fp@1514: 
fp@1949:                 entries << "    {0x" << hex << setfill('0')
fp@1514:                     << setw(4) << entry.index
fp@1514:                     << ", 0x" << setw(2) << (unsigned int) entry.subindex
fp@1514:                     << ", " << dec << (unsigned int) entry.bit_length
fp@1514:                     << "},";
fp@1514:                 if (strlen((const char *) entry.name)) {
fp@1514:                     entries << " /* " << entry.name << " */";
fp@1514:                 }
fp@1514:                 entries << endl;
fp@1514:             }
fp@1514:         }
fp@1514:     }
fp@1514: 
fp@1514:     cout
fp@1827:         << "/* Master " << m.getIndex() << ", Slave " << slave.position;
fp@1514:     if (strlen(slave.order)) {
fp@1514:         cout << ", \"" << slave.order << "\"";
fp@1514:     }
fp@1514: 
fp@1514:     cout << endl
fp@1514:         << " * Vendor ID:       0x" << hex << setfill('0')
fp@1514:         << setw(8) << slave.vendor_id << endl
fp@1514:         << " * Product code:    0x" << hex << setfill('0')
fp@1514:         << setw(8) << slave.product_code << endl
fp@1514:         << " * Revision number: 0x" << hex << setfill('0')
fp@2421:         << setw(8) << slave.revision_number << endl
fp@1514:         << " */" << endl
fp@1514:         << endl;
fp@1514: 
fp@1514:     if (entry_pos) {
fp@1514:         cout << "ec_pdo_entry_info_t " << id.str()
fp@1514:             << "pdo_entries[] = {" << endl
fp@1514:             << entries.str()
fp@1514:             << "};" << endl
fp@1514:             << endl;
fp@1514:     }
fp@1514: 
fp@1514:     if (pdo_pos) {
fp@1514:         cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl
fp@1514:             << pdos.str()
fp@1514:             << "};" << endl
fp@1514:             << endl;
fp@1514:     }
fp@1514: 
fp@1514:     cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl
fp@1514:         << syncs.str()
fp@1949:         << "    {0xff}" << endl
fp@1514:         << "};" << endl
fp@1514:         << endl;
fp@1514: }
fp@1514: 
fp@1514: /*****************************************************************************/