fp@1422: /*****************************************************************************
fp@1422:  *
fp@1422:  *  $Id$
fp@1422:  *
fp@1422:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1422:  *
fp@1422:  *  This file is part of the IgH EtherCAT Master.
fp@1422:  *
fp@1422:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1422:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1422:  *  published by the Free Software Foundation.
fp@1422:  *
fp@1422:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1422:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1422:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1422:  *  Public License for more details.
fp@1422:  *
fp@1422:  *  You should have received a copy of the GNU General Public License along
fp@1422:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1422:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1422:  *
fp@1422:  *  ---
fp@1422:  *
fp@1422:  *  The license mentioned above concerns the source code only. Using the
fp@1422:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1422:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1422:  *
fp@1422:  ****************************************************************************/
fp@1422: 
fp@1422: #include <iostream>
fp@1422: #include <map>
fp@1422: using namespace std;
fp@1422: 
fp@1422: #include "CommandGraph.h"
fp@1422: 
fp@1422: /*****************************************************************************/
fp@1422: 
fp@1422: CommandGraph::CommandGraph():
fp@1422:     Command("graph", "Output the bus topology as a graph.")
fp@1422: {
fp@1422: }
fp@1422: 
fp@1422: /*****************************************************************************/
fp@1422: 
fp@1422: string CommandGraph::helpString() const
fp@1422: {
fp@1422:     stringstream str;
fp@1422: 
fp@1422:     str << getName() << " [OPTIONS]" << endl
fp@1422:         << endl
fp@1422:         << getBriefDescription() << endl
fp@1422:         << endl
fp@1422:         << "The bus is output in DOT language (see" << endl
fp@1422:         << "http://www.graphviz.org/doc/info/lang.html), which can" << endl
fp@1422:         << "be processed with the tools from the Graphviz" << endl
fp@1422:         << "package. Example:" << endl
fp@1422:         << endl
fp@1422:         << "  ethercat graph | dot -Tsvg > bus.svg" << endl
fp@1422:         << endl
fp@1422:         << "See 'man dot' for more information." << endl;
fp@1422: 
fp@1422:     return str.str();
fp@1422: }
fp@1422: 
fp@1422: /****************************************************************************/
fp@1422: 
fp@1422: void CommandGraph::execute(MasterDevice &m, const StringVector &args)
fp@1422: {
fp@1422:     ec_ioctl_master_t master;
fp@1422:     unsigned int i;
fp@1422:     typedef vector<ec_ioctl_slave_t> SlaveVector;
fp@1422:     SlaveVector slaves;
fp@1422:     ec_ioctl_slave_t slave;
fp@1422:     SlaveVector::const_iterator si;
fp@1422:     string font("fontname=\"Helvetica\"");
fp@1422:     map<int, string> portMedia;
fp@1422:     map<int, string>::const_iterator mi;
fp@1422:     map<int, int> mediaWeights;
fp@1422:     map<int, int>::const_iterator wi;
fp@1422: 
fp@1422:     portMedia[EC_PORT_MII] = "MII";
fp@1422:     mediaWeights[EC_PORT_MII] = 1;
fp@1422: 
fp@1422:     portMedia[EC_PORT_EBUS] = "EBUS";
fp@1422:     mediaWeights[EC_PORT_EBUS] = 5;
fp@1422:     
fp@1422:     if (args.size()) {
fp@1422:         stringstream err;
fp@1422:         err << "'" << getName() << "' takes no arguments!";
fp@1422:         throwInvalidUsageException(err);
fp@1422:     }
fp@1422: 
fp@1422:     m.open(MasterDevice::Read);
fp@1422:     m.getMaster(&master);
fp@1422: 
fp@1422:     for (i = 0; i < master.slave_count; i++) {
fp@1422:         m.getSlave(&slave, i);
fp@1422:         slaves.push_back(slave);
fp@1422:     }
fp@1422: 
fp@1422:     cout << "/* EtherCAT bus graph. Generated by 'ethercat graph'. */" << endl
fp@1422:         << endl
fp@1422:         << "strict graph bus {" << endl
fp@1422:         << "    rankdir=\"LR\"" << endl
fp@1422:         << endl
fp@1422:         << "    master [" << font << ",label=\"EtherCAT\\nMaster\"]" << endl;
fp@1422: 
fp@1422:     if (slaves.size()) {
fp@1422:         cout << "    master -- slave0 [" << font;
fp@1422: 
fp@1422:         mi = portMedia.find(slaves.front().port_descs[0]);
fp@1422:         if (mi != portMedia.end())
fp@1422:             cout << ",label=\"" << mi->second << "\"";
fp@1422: 
fp@1422:         cout << "]" << endl;
fp@1422:     }
fp@1422:     cout << endl;
fp@1422: 
fp@1422:     for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1422: 	    cout << "    slave" << si->position << " [" << font <<
fp@1422:             ",shape=\"box\",label=\"" << si->position;
fp@1422:         if (string(si->order).size())
fp@1422:             cout << "\\n" << si->order;
fp@1422:         cout << "\"]" << endl;
fp@1422: 
fp@1422:         for (i = 1; i < EC_MAX_PORTS; i++) {
fp@1422:             if (si->next_slave[i] == 0xffff)
fp@1422:                 continue;
fp@1422: 
fp@1422:             cout << "    slave" << si->position << " -- "
fp@1422:                 << "slave" << si->next_slave[i] << " [" << font << ","
fp@1422:                 << "taillabel=\"" << i << "\"";
fp@1422: 
fp@1422:             mi = portMedia.find(si->port_descs[i]);
fp@1422:             if (mi == portMedia.end()) {
fp@1422:                 /* Try medium of next-hop slave. */
fp@1422:                 unsigned int pos = si->next_slave[i];
fp@1422:                 if (pos < slaves.size()) {
fp@1422:                     ec_ioctl_slave_t *next = &slaves[pos];
fp@1422:                     mi = portMedia.find(next->port_descs[0]);
fp@1422:                 } else {
fp@1422:                     cerr << "Invalid next slave pointer." << endl;
fp@1422:                 }
fp@1422:             }
fp@1422:             
fp@1422:             if (mi != portMedia.end())
fp@1422:                 cout << ",label=\"" << mi->second << "\"";
fp@1422: 
fp@1422:             wi = mediaWeights.find(si->port_descs[i]);
fp@1422:             if (wi != mediaWeights.end())
fp@1422:                 cout << ",weight=\"" << wi->second << "\"";
fp@1422:             
fp@1422:             cout << "]" << endl;
fp@1422:         }
fp@1422: 
fp@1422:         cout << endl;
fp@1422:     }
fp@1422: 
fp@1422:     cout << "}" << endl;
fp@1422: }
fp@1422: 
fp@1422: /*****************************************************************************/