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 "CommandSiiRead.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandSiiRead::CommandSiiRead():
fp@1142:     Command("sii_read", "Output a slave's SII contents.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandSiiRead::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@1157:         << "This command requires a single slave to be selected." << endl
fp@1804:         << endl
fp@1804:         << "Without the --verbose option, binary SII contents are" << endl
fp@1804:         << "output." << endl
fp@1804:         << endl
fp@1804:         << "With the --verbose option given, a textual representation" << endl
fp@1804:         << "of the data is output, that is separated by SII category" << endl
fp@1804:         << "names." << endl
fp@1804:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>" << endl
fp@1157:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1157:         << "                         the 'slaves' command." << endl
fp@1804:         << "  --verbose  -v          Output textual data with" << endl
fp@1804:         << "                         category names." << endl
fp@1804:         << endl
fp@1804:         << numericInfo();
fp@1804: 
fp@1804:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandSiiRead::execute(const StringVector &args)
fp@1142: {
fp@1151:     SlaveList slaves;
fp@1151:     ec_ioctl_slave_t *slave;
fp@1142:     ec_ioctl_slave_sii_t data;
fp@1142:     unsigned int i;
fp@1142:     const uint16_t *categoryHeader;
fp@1142:     uint16_t categoryType, categorySize;
fp@1142:     stringstream err;
fp@1142: 
fp@1373:     if (args.size()) {
fp@1373:         err << "'" << getName() << "' takes no arguments!";
fp@1373:         throwInvalidUsageException(err);
fp@1373:     }
fp@1373: 
fp@1870:     MasterDevice m(getSingleMasterIndex());
fp@1151:     m.open(MasterDevice::Read);
fp@1151:     slaves = selectedSlaves(m);
fp@1151: 
fp@1151:     if (slaves.size() != 1) {
fp@1155:         throwSingleSlaveRequired(slaves.size());
fp@1142:     }
fp@1151:     slave = &slaves.front();
fp@1151:     data.slave_position = slave->position;
fp@1142: 
fp@1151:     if (!slave->sii_nwords)
fp@1142:         return;
fp@1142: 
fp@1142:     data.offset = 0;
fp@1151:     data.nwords = slave->sii_nwords;
fp@1142:     data.words = new uint16_t[data.nwords];
fp@1142: 
fp@1804:     try {
fp@1804:         m.readSii(&data);
fp@1804:     } catch (MasterDeviceException &e) {
fp@1142:         delete [] data.words;
fp@1804:         throw e;
fp@1804:     }
fp@1142: 
fp@1142:     if (getVerbosity() == Verbose) {
fp@1142:         cout << "SII Area:" << hex << setfill('0');
fp@1142:         for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {
fp@1142:             if (i % BreakAfterBytes) {
fp@1142:                 cout << " ";
fp@1142:             } else {
fp@1142:                 cout << endl << "  ";
fp@1142:             }
fp@1142:             cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i);
fp@1142:         }
fp@1142:         cout << endl;
fp@1142: 
fp@1142:         if (data.nwords > 0x0040U) {
fp@1142:             // cycle through categories
fp@1142:             categoryHeader = data.words + 0x0040U;
fp@1254:             categoryType = le16_to_cpup(categoryHeader);
fp@1142:             while (categoryType != 0xffff) {
fp@1142:                 cout << "SII Category 0x" << hex
fp@1142:                     << setw(4) << categoryType
fp@1142:                     << " (" << getCategoryName(categoryType) << ")" << flush;
fp@1142: 
fp@1142:                 if (categoryHeader + 1 > data.words + data.nwords) {
fp@1142:                     err << "SII data seem to be corrupted!";
fp@1142:                     throwCommandException(err);
fp@1142:                 }
fp@1254:                 categorySize = le16_to_cpup(categoryHeader + 1);
fp@1142:                 cout << ", " << dec << categorySize << " words" << flush;
fp@1142: 
fp@1142:                 if (categoryHeader + 2 + categorySize
fp@1142:                         > data.words + data.nwords) {
fp@1142:                     err << "SII data seem to be corrupted!";
fp@1142:                     throwCommandException(err);
fp@1142:                 }
fp@1142: 
fp@1142:                 cout << hex;
fp@1142:                 for (i = 0; i < categorySize * 2U; i++) {
fp@1142:                     if (i % BreakAfterBytes) {
fp@1142:                         cout << " ";
fp@1142:                     } else {
fp@1142:                         cout << endl << "  ";
fp@1142:                     }
fp@1142:                     cout << setw(2) << (unsigned int)
fp@1142:                         *((uint8_t *) (categoryHeader + 2) + i);
fp@1142:                 }
fp@1142:                 cout << endl;
fp@1142: 
fp@1142:                 if (categoryHeader + 2 + categorySize + 1
fp@1142:                         > data.words + data.nwords) {
fp@2421:                     err << "SII data seem to be corrupted!";
fp@1142:                     throwCommandException(err);
fp@1142:                 }
fp@1142:                 categoryHeader += 2 + categorySize;
fp@1254:                 categoryType = le16_to_cpup(categoryHeader);
fp@1142:             }
fp@1142:         }
fp@1142:     } else {
fp@1142:         for (i = 0; i < data.nwords; i++) {
fp@1142:             uint16_t *w = data.words + i;
fp@1142:             cout << *(uint8_t *) w << *((uint8_t *) w + 1);
fp@1142:         }
fp@1142:     }
fp@1142: 
fp@1142:     delete [] data.words;
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: const CommandSiiRead::CategoryName CommandSiiRead::categoryNames[] = {
fp@1142:     {0x000a, "STRINGS"},
fp@1142:     {0x0014, "DataTypes"},
fp@1142:     {0x001e, "General"},
fp@1142:     {0x0028, "FMMU"},
fp@1142:     {0x0029, "SyncM"},
fp@1142:     {0x0032, "TXPDO"},
fp@1142:     {0x0033, "RXPDO"},
fp@1142:     {0x003c, "DC"},
fp@1142:     {}
fp@1142: };
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: const char *CommandSiiRead::getCategoryName(uint16_t type)
fp@1142: {
fp@1142:     const CategoryName *cn = categoryNames;
fp@1142: 
fp@1142:     while (cn->type) {
fp@1142:         if (cn->type == type) {
fp@1142:             return cn->name;
fp@1142:         }
fp@1142:         cn++;
fp@1142:     }
fp@1142: 
fp@1142:     return "unknown";
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/