fp@1142: /*****************************************************************************
fp@1142:  *
fp@1363:  *  $Id$
fp@1363:  *
fp@1363:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1363:  *
fp@1363:  *  This file is part of the IgH EtherCAT Master.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1363:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1363:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1363:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandMaster.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1415: #define MAX_TIME_STR_SIZE 50
fp@1415: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandMaster::CommandMaster():
fp@1143:     Command("master", "Show master and Ethernet device information.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1968: string CommandMaster::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
fp@1804:         << endl
fp@1804:         << getBriefDescription() << endl
fp@1804:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1826:         << "  --master -m <indices>  Master indices. A comma-separated" << endl
fp@1826:         << "                         list with ranges is supported." << endl
fp@1826:         << "                         Example: 1,4,5,7-9. Default: - (all)."
fp@1804:         << endl << endl
fp@1804:         << numericInfo();
fp@1142: 
fp@1804:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandMaster::execute(const StringVector &args)
fp@1142: {
fp@1869: 	MasterIndexList masterIndices;
fp@1142:     ec_ioctl_master_t data;
fp@1142:     stringstream err;
fp@2453:     unsigned int dev_idx, j;
fp@1415:     time_t epoch;
fp@1415:     char time_str[MAX_TIME_STR_SIZE + 1];
fp@1415:     size_t time_str_size;
fp@2421: 
fp@1373:     if (args.size()) {
fp@1373:         err << "'" << getName() << "' takes no arguments!";
fp@1373:         throwInvalidUsageException(err);
fp@1373:     }
fp@1373: 
fp@1869: 	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:         m.getMaster(&data);
fp@1142: 
fp@1826:         cout
fp@1826:             << "Master" << m.getIndex() << endl
fp@1826:             << "  Phase: ";
fp@1142: 
fp@1826:         switch (data.phase) {
fp@2156:             case 0:  cout << "Waiting for device(s)..."; break;
fp@1826:             case 1:  cout << "Idle"; break;
fp@1826:             case 2:  cout << "Operation"; break;
fp@1826:             default: cout << "???";
fp@1826:         }
fp@1826: 
fp@1826:         cout << endl
fp@1826:             << "  Active: " << (data.active ? "yes" : "no") << endl
fp@1826:             << "  Slaves: " << data.slave_count << endl
fp@1826:             << "  Ethernet devices:" << endl;
fp@1826: 
fp@2453:         for (dev_idx = EC_DEVICE_MAIN; dev_idx < data.num_devices;
fp@2453:                 dev_idx++) {
fp@2453:             cout << "    " << (dev_idx == EC_DEVICE_MAIN ? "Main" : "Backup")
fp@2453:                 << ": ";
fp@2453:             cout << hex << setfill('0')
fp@2453:                 << setw(2) << (unsigned int) data.devices[dev_idx].address[0]
fp@2453:                 << ":"
fp@2453:                 << setw(2) << (unsigned int) data.devices[dev_idx].address[1]
fp@2453:                 << ":"
fp@2453:                 << setw(2) << (unsigned int) data.devices[dev_idx].address[2]
fp@2453:                 << ":"
fp@2453:                 << setw(2) << (unsigned int) data.devices[dev_idx].address[3]
fp@2453:                 << ":"
fp@2453:                 << setw(2) << (unsigned int) data.devices[dev_idx].address[4]
fp@2453:                 << ":"
fp@2453:                 << setw(2) << (unsigned int) data.devices[dev_idx].address[5]
fp@2453:                 << " ("
fp@2453:                 << (data.devices[dev_idx].attached ?
fp@2453:                         "attached" : "waiting...")
fp@2453:                 << ")" << endl << dec
fp@2453:                 << "      Link: "
fp@2453:                 << (data.devices[dev_idx].link_state ? "UP" : "DOWN") << endl
fp@2453:                 << "      Tx frames:   "
fp@2453:                 << data.devices[dev_idx].tx_count << endl
fp@2453:                 << "      Tx bytes:    "
fp@2453:                 << data.devices[dev_idx].tx_bytes << endl
fp@2453:                 << "      Rx frames:   "
fp@2453:                 << data.devices[dev_idx].rx_count << endl
fp@2453:                 << "      Rx bytes:    "
fp@2453:                 << data.devices[dev_idx].rx_bytes << endl
fp@2453:                 << "      Tx errors:   "
fp@2453:                 << data.devices[dev_idx].tx_errors << endl
fp@2453:                 << "      Tx frame rate [1/s]: "
fp@2453:                 << setfill(' ') << setprecision(0) << fixed;
fp@2453:             for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2453:                 cout << setw(ColWidth)
fp@2453:                     << data.devices[dev_idx].tx_frame_rates[j] / 1000.0;
fp@2453:                 if (j < EC_RATE_COUNT - 1) {
fp@2453:                     cout << " ";
fp@2453:                 }
fp@2453:             }
fp@2453:             cout << endl
fp@2453:                 << "      Tx rate [KByte/s]:   "
fp@2453:                 << setprecision(1) << fixed;
fp@2453:             for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2453:                 cout << setw(ColWidth)
fp@2453:                     << data.devices[dev_idx].tx_byte_rates[j] / 1024.0;
fp@2453:                 if (j < EC_RATE_COUNT - 1) {
fp@2453:                     cout << " ";
fp@2453:                 }
fp@2453:             }
fp@2453:             cout << endl
fp@2453:                 << "      Rx frame rate [1/s]: "
fp@2453:                 << setfill(' ') << setprecision(0) << fixed;
fp@2453:             for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2453:                 cout << setw(ColWidth)
fp@2453:                     << data.devices[dev_idx].rx_frame_rates[j] / 1000.0;
fp@2453:                 if (j < EC_RATE_COUNT - 1) {
fp@2453:                     cout << " ";
fp@2453:                 }
fp@2453:             }
fp@2453:             cout << endl
fp@2453:                 << "      Rx rate [KByte/s]:   "
fp@2453:                 << setprecision(1) << fixed;
fp@2453:             for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2453:                 cout << setw(ColWidth)
fp@2453:                     << data.devices[dev_idx].rx_byte_rates[j] / 1024.0;
fp@2453:                 if (j < EC_RATE_COUNT - 1) {
fp@2453:                     cout << " ";
fp@2453:                 }
fp@2453:             }
fp@2453:             cout << setprecision(0) << endl;
fp@2158:         }
fp@2158:         unsigned int lost = data.tx_count - data.rx_count;
fp@2158:         if (lost == 1) {
fp@2158:             // allow one frame travelling
fp@2158:             lost = 0;
fp@2158:         }
fp@2158:         cout << "    Common:" << endl
fp@2158:             << "      Tx frames:   "
fp@2158:             << data.tx_count << endl
fp@2158:             << "      Tx bytes:    "
fp@2158:             << data.tx_bytes << endl
fp@2158:             << "      Rx frames:   "
fp@2158:             << data.rx_count << endl
fp@2158:             << "      Rx bytes:    "
fp@2158:             << data.rx_bytes << endl
fp@2158:             << "      Lost frames: " << lost << endl
fp@2158:             << "      Tx frame rate [1/s]: "
fp@2158:             << setfill(' ') << setprecision(0) << fixed;
fp@2158:         for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2158:             cout << setw(ColWidth)
fp@2158:                 << data.tx_frame_rates[j] / 1000.0;
fp@2158:             if (j < EC_RATE_COUNT - 1) {
fp@2158:                 cout << " ";
fp@2158:             }
fp@2158:         }
fp@2158:         cout << endl
fp@2158:             << "      Tx rate [KByte/s]:   "
fp@2158:             << setprecision(1) << fixed;
fp@2158:         for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2158:             cout << setw(ColWidth)
fp@2158:                 << data.tx_byte_rates[j] / 1024.0;
fp@2158:             if (j < EC_RATE_COUNT - 1) {
fp@2158:                 cout << " ";
fp@2158:             }
fp@2158:         }
fp@2158:         cout << endl
fp@2158:             << "      Rx frame rate [1/s]: "
fp@2158:             << setfill(' ') << setprecision(0) << fixed;
fp@2158:         for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2158:             cout << setw(ColWidth)
fp@2158:                 << data.rx_frame_rates[j] / 1000.0;
fp@2158:             if (j < EC_RATE_COUNT - 1) {
fp@2158:                 cout << " ";
fp@2158:             }
fp@2158:         }
fp@2158:         cout << endl
fp@2158:             << "      Rx rate [KByte/s]:   "
fp@2158:             << setprecision(1) << fixed;
fp@2158:         for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2158:             cout << setw(ColWidth)
fp@2158:                 << data.rx_byte_rates[j] / 1024.0;
fp@2158:             if (j < EC_RATE_COUNT - 1) {
fp@2158:                 cout << " ";
fp@2158:             }
fp@2158:         }
fp@2158:         cout << endl
fp@2158:             << "      Loss rate [1/s]:     "
fp@2158:             << setprecision(0) << fixed;
fp@2158:         for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2158:             cout << setw(ColWidth)
fp@2158:                 << data.loss_rates[j] / 1000.0;
fp@2158:             if (j < EC_RATE_COUNT - 1) {
fp@2158:                 cout << " ";
fp@2158:             }
fp@2158:         }
fp@2158:         cout << endl
fp@2158:             << "      Frame loss [%]:      "
fp@2158:             << setprecision(1) << fixed;
fp@2158:         for (j = 0; j < EC_RATE_COUNT; j++) {
fp@2158:             double perc = 0.0;
fp@2158:             if (data.tx_frame_rates[j]) {
fp@2158:                 perc = 100.0 * data.loss_rates[j] / data.tx_frame_rates[j];
fp@2158:             }
fp@2158:             cout << setw(ColWidth) << perc;
fp@2158:             if (j < EC_RATE_COUNT - 1) {
fp@2158:                 cout << " ";
fp@2158:             }
fp@2158:         }
fp@2158:         cout << setprecision(0) << endl;
fp@1826: 
fp@1826:         cout << "  Distributed clocks:" << endl
fp@1826:             << "    Reference clock: ";
fp@1826:         if (data.ref_clock != 0xffff) {
fp@1826:             cout << "Slave " << dec << data.ref_clock;
fp@1826:         } else {
fp@1826:             cout << "None";
fp@1826:         }
fp@1826:         cout << endl
fp@1826:             << "    Application time: " << data.app_time << endl
fp@1826:             << "                      ";
fp@1826: 
fp@1826:         epoch = data.app_time / 1000000000 + 946684800ULL;
fp@1826:         time_str_size = strftime(time_str, MAX_TIME_STR_SIZE,
fp@1826:                 "%Y-%m-%d %H:%M:%S", gmtime(&epoch));
fp@1826:         cout << string(time_str, time_str_size) << "."
fp@1826:             << setfill('0') << setw(9) << data.app_time % 1000000000 << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/