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@1880:  *  vim: expandtab
fp@1880:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <list>
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: #include <sstream>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandConfig.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandConfig::CommandConfig():
fp@1142:     Command("config", "Show slave configurations.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandConfig::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:         << "Without the --verbose option, slave configurations are" << endl
fp@1804:         << "output one-per-line. Example:" << endl
fp@1804:         << endl
fp@1804:         << "1001:0  0x0000003b/0x02010000  3  OP" << endl
fp@1804:         << "|       |                      |  |" << endl
fp@1804:         << "|       |                      |  \\- Application-layer" << endl
fp@1804:         << "|       |                      |     state of the attached" << endl
fp@1804:         << "|       |                      |     slave, or '-', if no" << endl
fp@1804:         << "|       |                      |     slave is attached." << endl
fp@1804:         << "|       |                      \\- Absolute decimal ring" << endl
fp@1804:         << "|       |                         position of the attached" << endl
fp@1804:         << "|       |                         slave, or '-' if none" << endl
fp@1804:         << "|       |                         attached." << endl
fp@1804:         << "|       \\- Expected vendor ID and product code (both" << endl
fp@1804:         << "|          hexadecimal)." << endl
fp@1804:         << "\\- Alias address and relative position (both decimal)." << endl
fp@1804:         << endl
fp@1804:         << "With the --verbose option given, the configured PDOs and" << endl
fp@1804:         << "SDOs are output in addition." << endl
fp@1157:         << endl
fp@1157:         << "Configuration selection:" << endl
fp@1157:         << "  Slave configurations can be selected with" << endl
fp@1157:         << "  the --alias and --position parameters as follows:" << endl
fp@1157:         << endl
fp@1157:         << "  1) If neither the --alias nor the --position option" << endl
fp@1167:         << "     is given, all slave configurations are displayed." << endl
fp@1157:         << "  2) If only the --position option is given, an alias" << endl
fp@1157:         << "     of zero is assumed (see 4))." << endl
fp@1157:         << "  3) If only the --alias option is given, all slave" << endl
fp@1157:         << "     configurations with the given alias address" << endl
fp@1167:         << "     are displayed." << endl
fp@1157:         << "  4) If both the --alias and the --position option are" << endl
fp@1167:         << "     given, the selection can match a single" << endl
fp@1167:         << "     configuration, that is displayed, if it exists." << endl
fp@1804:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>  Configuration alias (see above)." << endl
fp@1157:         << "  --position -p <pos>    Relative position (see above)." << endl
fp@1804:         << "  --verbose  -v          Show detailed configurations." << endl
fp@1157:         << endl
fp@1157:         << numericInfo();
fp@1142: 
fp@1804:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Lists the bus configuration.
fp@1142:  */
fp@1826: void CommandConfig::execute(const StringVector &args)
fp@1142: {
fp@1880:     MasterIndexList masterIndices;
fp@1869:     bool doIndent;
fp@1156:     ConfigList configs;
fp@1142: 
fp@1373:     if (args.size()) {
fp@1373:         stringstream err;
fp@1373:         err << "'" << getName() << "' takes no arguments!";
fp@1373:         throwInvalidUsageException(err);
fp@1373:     }
fp@1373: 
fp@1880:     masterIndices = getMasterIndices();
fp@1869:     doIndent = masterIndices.size() > 1;
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:         configs = selectedConfigs(m);
fp@1826: 
fp@1827:         if (configs.size() && doIndent) {
fp@1827:             cout << "Master" << dec << m.getIndex() << endl;
fp@1826:         }
fp@1826: 
fp@1826:         if (getVerbosity() == Verbose) {
fp@1826:             showDetailedConfigs(m, configs, doIndent);
fp@1826:         } else {
fp@1826:             listConfigs(m, configs, doIndent);
fp@1826:         }
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Lists the complete bus configuration.
fp@1142:  */
fp@1142: void CommandConfig::showDetailedConfigs(
fp@1804:         MasterDevice &m,
fp@1826:         const ConfigList &configList,
fp@1826:         bool doIndent
fp@1804:         )
fp@1142: {
fp@1142:     ConfigList::const_iterator configIter;
fp@1526:     unsigned int i, j, k, l;
fp@1147:     ec_ioctl_slave_t slave;
fp@1142:     ec_ioctl_config_pdo_t pdo;
fp@1142:     ec_ioctl_config_pdo_entry_t entry;
fp@1142:     ec_ioctl_config_sdo_t sdo;
fp@1966:     ec_ioctl_config_idn_t idn;
fp@1826:     string indent(doIndent ? "  " : "");
fp@1142: 
fp@1142:     for (configIter = configList.begin();
fp@1142:             configIter != configList.end();
fp@1142:             configIter++) {
fp@1142: 
fp@1826:         cout << indent
fp@1826:             << "Alias: "
fp@1826:             << dec << configIter->alias << endl << indent
fp@1826:             << "Position: " << configIter->position << endl << indent
fp@1142:             << "Vendor Id: 0x"
fp@1142:             << hex << setfill('0')
fp@1826:             << setw(8) << configIter->vendor_id << endl << indent
fp@1142:             << "Product code: 0x"
fp@1826:             << setw(8) << configIter->product_code << endl << indent
fp@1147:             << "Attached slave: ";
fp@1147:         
fp@1147:         if (configIter->slave_position != -1) {
fp@1147:             m.getSlave(&slave, configIter->slave_position);
fp@1172:             cout << dec << configIter->slave_position
fp@1148:                 << " (" << alStateString(slave.al_state) << ")" << endl;
fp@1147:         } else {
fp@1147:             cout << "none" << endl;
fp@1147:         }
fp@1142: 
fp@1826:         cout << indent << "Watchdog divider: ";
fp@1518:         if (configIter->watchdog_divider) {
fp@1518:             cout << dec << configIter->watchdog_divider;
fp@1518:         } else {
fp@1519:             cout << "(Default)";
fp@1518:         }
fp@1826:         cout << endl << indent
fp@1519:             << "Watchdog intervals: ";
fp@1518:         if (configIter->watchdog_intervals) {
fp@1518:             cout << dec << configIter->watchdog_intervals;
fp@1518:         } else {
fp@1519:             cout << "(Default)";
fp@1518:         }
fp@1518:         cout << endl;
fp@1518: 
fp@1142:         for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
fp@1142:             if (configIter->syncs[j].pdo_count) {
fp@1826:                 cout << indent << "SM" << dec << j << ", Dir: "
fp@1142:                     << (configIter->syncs[j].dir == EC_DIR_INPUT
fp@1518:                             ? "Input" : "Output") << ", Watchdog: ";
fp@1518:                 switch (configIter->syncs[j].watchdog_mode) {
fp@1518:                     case EC_WD_DEFAULT: cout << "Default"; break;
fp@1518:                     case EC_WD_ENABLE: cout << "Enable"; break;
fp@1518:                     case EC_WD_DISABLE: cout << "Disable"; break;
fp@1518:                     default: cout << "???"; break;
fp@1518:                 }
fp@1518:                 cout << endl;
fp@1518: 
fp@1142:                 for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
fp@1142:                     m.getConfigPdo(&pdo, configIter->config_index, j, k);
fp@1142: 
fp@1826:                     cout << indent << "  PDO 0x" << hex << setfill('0')
fp@1467:                         << setw(4) << pdo.index << endl;
fp@1142: 
fp@1142:                     for (l = 0; l < pdo.entry_count; l++) {
fp@1142:                         m.getConfigPdoEntry(&entry,
fp@1142:                                 configIter->config_index, j, k, l);
fp@1142: 
fp@1826:                         cout << indent << "    PDO entry 0x"
fp@1826:                             << hex << setfill('0')
fp@1142:                             << setw(4) << entry.index << ":"
fp@1142:                             << setw(2) << (unsigned int) entry.subindex
fp@1188:                             << ", " << dec << setfill(' ')
fp@1188:                             << setw(2) << (unsigned int) entry.bit_length
fp@1188:                             << " bit" << endl;
fp@1142:                     }
fp@1142:                 }
fp@1142:             }
fp@1142:         }
fp@1142: 
fp@1826:         cout << indent << "SDO configuration:" << endl;
fp@1142:         if (configIter->sdo_count) {
fp@1142:             for (j = 0; j < configIter->sdo_count; j++) {
fp@1142:                 m.getConfigSdo(&sdo, configIter->config_index, j);
fp@1142: 
fp@1826:                 cout << indent << "  0x"
fp@1142:                     << hex << setfill('0')
fp@1142:                     << setw(4) << sdo.index << ":"
fp@1142:                     << setw(2) << (unsigned int) sdo.subindex
fp@1526:                     << ", " << dec << sdo.size << " byte" << endl;
fp@1526: 
fp@1826:                 cout << indent << "    " << hex;
fp@1526:                 for (i = 0; i < min((uint32_t) sdo.size,
fp@1526:                             (uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {
fp@1526:                     cout << setw(2) << (unsigned int) sdo.data[i];
fp@1526:                     if ((i + 1) % 16 == 0 && i < sdo.size - 1) {
fp@1826:                         cout << endl << indent << "    ";
fp@1526:                     } else {
fp@1526:                         cout << " ";
fp@1526:                     }
fp@1142:                 }
fp@1142: 
fp@1142:                 cout << endl;
fp@1526:                 if (sdo.size > EC_MAX_SDO_DATA_SIZE) {
fp@1826:                     cout << indent << "    ..." << endl;
fp@1526:                 }
fp@1142:             }
fp@1142:         } else {
fp@1826:             cout << indent << "  None." << endl;
fp@1142:         }
fp@1142: 
fp@1966:         cout << indent << "IDN configuration:" << endl;
fp@1966:         if (configIter->idn_count) {
fp@1966:             for (j = 0; j < configIter->idn_count; j++) {
fp@1966:                 m.getConfigIdn(&idn, configIter->config_index, j);
fp@1966: 
fp@1966:                 cout << indent << "  Drive " << (unsigned int) idn.drive_no
fp@1966:                     << ", " << outputIdn(idn.idn)
fp@1966:                     << ", " << dec << idn.size << " byte" << endl;
fp@1966: 
fp@1966:                 cout << indent << "    " << hex << setfill('0');
fp@1966:                 for (i = 0; i < min((uint32_t) idn.size,
fp@1966:                             (uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
fp@1966:                     cout << setw(2) << (unsigned int) idn.data[i];
fp@1966:                     if ((i + 1) % 16 == 0 && i < idn.size - 1) {
fp@1966:                         cout << endl << indent << "    ";
fp@1966:                     } else {
fp@1966:                         cout << " ";
fp@1966:                     }
fp@1966:                 }
fp@1966: 
fp@1966:                 cout << endl;
fp@1966:                 if (idn.size > EC_MAX_IDN_DATA_SIZE) {
fp@1966:                     cout << indent << "    ..." << endl;
fp@1966:                 }
fp@1966:             }
fp@1966:         } else {
fp@1966:             cout << indent << "  None." << endl;
fp@1966:         }
fp@1455:         if (configIter->dc_assign_activate) {
fp@1455:             int i;
fp@1455: 
fp@1826:             cout << indent << "DC configuration:" << endl
fp@1826:                 << indent << "  AssignActivate: 0x" << hex << setfill('0')
fp@1455:                 << setw(4) << configIter->dc_assign_activate << endl;
fp@1455: 
fp@1826:             cout << indent << "         Cycle [ns]   Shift [ns]" << endl;
fp@1455:             for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
fp@1826:                 cout << indent << "  SYNC" << dec << i << "  "
fp@1456:                     << setfill(' ') << right
fp@1455:                     << setw(11) << configIter->dc_sync[i].cycle_time
fp@1456:                     << "  "
fp@1455:                     << setw(11) << configIter->dc_sync[i].shift_time
fp@1455:                     << endl;
fp@1455:             }
fp@1455:         }
fp@1142:         cout << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Lists the bus configuration.
fp@1142:  */
fp@1147: void CommandConfig::listConfigs(
fp@1147:         MasterDevice &m,
fp@1826:         const ConfigList &configList,
fp@1826:         bool doIndent
fp@1147:         )
fp@1142: {
fp@1142:     ConfigList::const_iterator configIter;
fp@1142:     stringstream str;
fp@1142:     Info info;
fp@1142:     typedef list<Info> InfoList;
fp@1142:     InfoList list;
fp@1142:     InfoList::const_iterator iter;
fp@1142:     unsigned int maxAliasWidth = 0, maxPosWidth = 0,
fp@1147:                  maxSlavePosWidth = 0, maxStateWidth = 0;
fp@1147:     ec_ioctl_slave_t slave;
fp@1826:     string indent(doIndent ? "  " : "");
fp@1142: 
fp@1142:     for (configIter = configList.begin();
fp@1142:             configIter != configList.end();
fp@1142:             configIter++) {
fp@1142: 
fp@1142:         str << dec << configIter->alias;
fp@1142:         info.alias = str.str();
fp@1142:         str.clear();
fp@1142:         str.str("");
fp@1142: 
fp@1142:         str << configIter->position;
fp@1142:         info.pos = str.str();
fp@1142:         str.clear();
fp@1142:         str.str("");
fp@1142: 
fp@1142:         str << hex << setfill('0')
fp@1142:             << "0x" << setw(8) << configIter->vendor_id
fp@1142:             << "/0x" << setw(8) << configIter->product_code;
fp@1142:         info.ident = str.str();
fp@1142:         str.clear();
fp@1142:         str.str("");
fp@1142: 
fp@1147:         if (configIter->slave_position != -1) {
fp@1147:             m.getSlave(&slave, configIter->slave_position);
fp@1147: 
fp@1172:             str << dec << configIter->slave_position;
fp@1147:             info.slavePos = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147: 
fp@1918:             info.state = alStateString(slave.al_state);
fp@1147:         } else {
fp@1147:             str << "-";
fp@1147:             info.slavePos = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147: 
fp@1147:             str << "-";
fp@1147:             info.state = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147:         }
fp@1142: 
fp@1142:         list.push_back(info);
fp@1142: 
fp@1142:         if (info.alias.length() > maxAliasWidth)
fp@1142:             maxAliasWidth = info.alias.length();
fp@1142:         if (info.pos.length() > maxPosWidth)
fp@1142:             maxPosWidth = info.pos.length();
fp@1147:         if (info.slavePos.length() > maxSlavePosWidth)
fp@1147:             maxSlavePosWidth = info.slavePos.length();
fp@1147:         if (info.state.length() > maxStateWidth)
fp@1147:             maxStateWidth = info.state.length();
fp@1142:     }
fp@1142: 
fp@1142:     for (iter = list.begin(); iter != list.end(); iter++) {
fp@1826:         cout << indent << setfill(' ') << right
fp@1142:             << setw(maxAliasWidth) << iter->alias
fp@1142:             << ":" << left
fp@1142:             << setw(maxPosWidth) << iter->pos
fp@1142:             << "  "
fp@1142:             << iter->ident
fp@1142:             << "  "
fp@1147:             << setw(maxSlavePosWidth) << iter->slavePos << "  "
fp@1147:             << setw(maxStateWidth) << iter->state << "  "
fp@1142:             << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/