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@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@1142: string CommandMaster::helpString() const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1142: 	str << getName() << " [OPTIONS]" << endl
fp@1142:     	<< endl
fp@1142:     	<< getBriefDescription() << endl
fp@1142:     	<< endl
fp@1142:     	<< "Command-specific options:" << endl
fp@1142:     	<< "  --master -m <index>  Index of the master to use. Default: 0."
fp@1142: 		<< endl << endl
fp@1142: 		<< numericInfo();
fp@1142: 
fp@1142: 	return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandMaster::execute(MasterDevice &m, const StringVector &args)
fp@1142: {
fp@1142:     ec_ioctl_master_t data;
fp@1142:     stringstream err;
fp@1142:     unsigned int i;
fp@1415:     time_t epoch;
fp@1415:     char time_str[MAX_TIME_STR_SIZE + 1];
fp@1415:     size_t time_str_size;
fp@1142:     
fp@1373:     if (args.size()) {
fp@1373:         err << "'" << getName() << "' takes no arguments!";
fp@1373:         throwInvalidUsageException(err);
fp@1373:     }
fp@1373: 
fp@1142:     m.open(MasterDevice::Read);
fp@1142:     m.getMaster(&data);
fp@1142: 
fp@1142:     cout
fp@1166:         << "Master" << m.getIndex() << endl
fp@1142:         << "  Phase: ";
fp@1142: 
fp@1142:     switch (data.phase) {
fp@1142:         case 0:  cout << "Waiting for device..."; break;
fp@1142:         case 1:  cout << "Idle"; break;
fp@1142:         case 2:  cout << "Operation"; break;
fp@1142:         default: cout << "???";
fp@1142:     }
fp@1142: 
fp@1142:     cout << endl
fp@1415:         << "  Slaves: " << data.slave_count << endl
fp@1415:         << "  Ethernet devices:" << endl;
fp@1142: 
fp@1142:     for (i = 0; i < 2; i++) {
fp@1415:         cout << "    " << (i == 0 ? "Main" : "Backup") << ": ";
fp@1142:         if (data.devices[i].address[0] == 0x00
fp@1142:                 && data.devices[i].address[1] == 0x00
fp@1142:                 && data.devices[i].address[2] == 0x00
fp@1142:                 && data.devices[i].address[3] == 0x00
fp@1142:                 && data.devices[i].address[4] == 0x00
fp@1142:                 && data.devices[i].address[5] == 0x00) {
fp@1142:             cout << "None.";
fp@1142:         } else {
fp@1142:             cout << hex << setfill('0')
fp@1142:                 << setw(2) << (unsigned int) data.devices[i].address[0] << ":"
fp@1142:                 << setw(2) << (unsigned int) data.devices[i].address[1] << ":"
fp@1142:                 << setw(2) << (unsigned int) data.devices[i].address[2] << ":"
fp@1142:                 << setw(2) << (unsigned int) data.devices[i].address[3] << ":"
fp@1142:                 << setw(2) << (unsigned int) data.devices[i].address[4] << ":"
fp@1142:                 << setw(2) << (unsigned int) data.devices[i].address[5] << " ("
fp@1142:                 << (data.devices[i].attached ? "attached" : "waiting...")
fp@1142:                 << ")" << endl << dec
fp@1415:                 << "      Link: " << (data.devices[i].link_state ? "UP" : "DOWN") << endl
fp@1415:                 << "      Tx count: " << data.devices[i].tx_count << endl
fp@1415:                 << "      Rx count: " << data.devices[i].rx_count;
fp@1142:         }
fp@1142:         cout << endl;
fp@1142:     }
fp@1415: 
fp@1415:     cout << "  Distributed clocks:" << endl
fp@1415:         << "    Reference clock: ";
fp@1415:     if (data.ref_clock != 0xffff) {
fp@1415:         cout << "Slave " << dec << data.ref_clock;
fp@1415:     } else {
fp@1415:         cout << "None";
fp@1415:     }
fp@1415:     cout << endl
fp@1415:         << "    Application time: " << data.app_time << endl
fp@1415:         << "                      ";
fp@1415: 
fp@1415:     epoch = data.app_time / 1000000000 + 946684800ULL;
fp@1415:     time_str_size = strftime(time_str, MAX_TIME_STR_SIZE,
fp@1415:             "%Y-%m-%d %H:%M:%S", gmtime(&epoch));
fp@1415:     cout << string(time_str, time_str_size) << "."
fp@1415:         << setfill('0') << setw(9) << data.app_time % 1000000000 << endl;
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/