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 "CommandDomains.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandDomains::CommandDomains():
fp@1142:     Command("domains", "Show configured domains.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandDomains::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
fp@1142:         << endl
fp@1804:         << getBriefDescription() << endl
fp@1804:         << endl
fp@1804:         << "Without the --verbose option, the domains are displayed" << endl
fp@1142:         << "one-per-line. Example:" << endl
fp@1804:         << endl
fp@1804:         << "Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 0/1"
fp@1804:         << endl << endl
fp@1804:         << "The domain's base address for the logical datagram" << endl
fp@1804:         << "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
fp@1804:         << "process data size in byte. The last values are the current" << endl
fp@1804:         << "datagram working counter sum and the expected working" << endl
fp@1804:         << "counter sum. If the values are equal, all PDOs were" << endl
fp@1167:         << "exchanged during the last cycle." << endl
fp@1167:         << endl
fp@1804:         << "If the --verbose option is given, the participating slave" << endl
fp@1804:         << "configurations/FMMUs and the current process data are" << endl
fp@1804:         << "additionally displayed:" << endl
fp@1804:         << endl
fp@1804:         << "Domain1: LogBaseAddr 0x00000006, Size   6, WorkingCounter 0/1"
fp@1804:         << endl
fp@1804:         << "  SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
fp@1804:         << endl
fp@1955:         << "    00 00 00 00 00 00" << endl
fp@1804:         << endl
fp@1804:         << "The process data are displayed as hexadecimal bytes." << endl
fp@1804:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1804:         << "  --domain  -d <index>  Positive numerical domain index." << endl
fp@1804:         << "                        If ommitted, all domains are" << endl
fp@1167:         << "                        displayed." << endl
fp@1804:         << endl
fp@1804:         << "  --verbose -v          Show FMMUs and process data" << endl
fp@1804:         << "                        in addition." << endl
fp@1804:         << endl
fp@1804:         << numericInfo();
fp@1142: 
fp@1804:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandDomains::execute(const StringVector &args)
fp@1142: {
fp@1869: 	MasterIndexList masterIndices;
fp@1869:     bool doIndent;
fp@1804:     DomainList domains;
fp@1804:     DomainList::const_iterator di;
fp@1804: 
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@1869: 	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:         domains = selectedDomains(m);
fp@1142: 
fp@1827:         if (domains.size() && doIndent) {
fp@1826:             cout << "Master" << dec << *mi << endl;
fp@1826:         }
fp@1826: 
fp@1826:         for (di = domains.begin(); di != domains.end(); di++) {
fp@1826:             showDomain(m, *di, doIndent);
fp@1826:         }
fp@1804:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1166: void CommandDomains::showDomain(
fp@1804:         MasterDevice &m,
fp@1826:         const ec_ioctl_domain_t &domain,
fp@1826:         bool doIndent
fp@1804:         )
fp@1142: {
fp@1142:     unsigned char *processData;
fp@1142:     ec_ioctl_domain_data_t data;
fp@1142:     unsigned int i, j;
fp@1142:     ec_ioctl_domain_fmmu_t fmmu;
fp@1142:     unsigned int dataOffset;
fp@1826:     string indent(doIndent ? "  " : "");
fp@2369:     unsigned int wc_sum = 0, dev_idx;
fp@2369: 
fp@2369:     for (dev_idx = 0; dev_idx < EC_NUM_DEVICES; dev_idx++) {
fp@2369:         wc_sum += domain.working_counter[dev_idx];
fp@2369:     }
fp@1804: 
fp@1826:     cout << indent << "Domain" << dec << domain.index << ":"
fp@1804:         << " LogBaseAddr 0x"
fp@1804:         << hex << setfill('0')
fp@1142:         << setw(8) << domain.logical_base_address
fp@1804:         << ", Size " << dec << setfill(' ')
fp@1142:         << setw(3) << domain.data_size
fp@1804:         << ", WorkingCounter "
fp@2369:         << wc_sum << "/"
fp@2369:         << domain.expected_working_counter;
fp@2369:     if (EC_NUM_DEVICES == 2) {
fp@2369:         cout << " (" << domain.working_counter[EC_DEVICE_MAIN]
fp@2369:             << "+" << domain.working_counter[EC_DEVICE_BACKUP]
fp@2369:             << ")";
fp@2369:     }
fp@2369:     cout << endl;
fp@1142: 
fp@1142:     if (!domain.data_size || getVerbosity() != Verbose)
fp@1142:         return;
fp@1142: 
fp@1142:     processData = new unsigned char[domain.data_size];
fp@1142: 
fp@1142:     try {
fp@1166:         m.getData(&data, domain.index, domain.data_size, processData);
fp@1142:     } catch (MasterDeviceException &e) {
fp@1142:         delete [] processData;
fp@1142:         throw e;
fp@1142:     }
fp@1142: 
fp@1142:     for (i = 0; i < domain.fmmu_count; i++) {
fp@1166:         m.getFmmu(&fmmu, domain.index, i);
fp@1142: 
fp@1826:         cout << indent << "  SlaveConfig "
fp@1142:             << dec << fmmu.slave_config_alias
fp@1142:             << ":" << fmmu.slave_config_position
fp@1142:             << ", SM" << (unsigned int) fmmu.sync_index << " ("
fp@1142:             << setfill(' ') << setw(6)
fp@1142:             << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
fp@1142:             << "), LogAddr 0x"
fp@1142:             << hex << setfill('0')
fp@1142:             << setw(8) << fmmu.logical_address
fp@1142:             << ", Size " << dec << fmmu.data_size << endl;
fp@1142: 
fp@1142:         dataOffset = fmmu.logical_address - domain.logical_base_address;
fp@1142:         if (dataOffset + fmmu.data_size > domain.data_size) {
fp@1142:             stringstream err;
fp@1142:             delete [] processData;
fp@1142:             err << "Fmmu information corrupted!";
fp@1142:             throwCommandException(err);
fp@1142:         }
fp@1142: 
fp@1826:         cout << indent << "    " << hex << setfill('0');
fp@1142:         for (j = 0; j < fmmu.data_size; j++) {
fp@1142:             if (j && !(j % BreakAfterBytes))
fp@1826:                 cout << endl << indent << "    ";
fp@1955:             cout << setw(2)
fp@1142:                 << (unsigned int) *(processData + dataOffset + j) << " ";
fp@1142:         }
fp@1142:         cout << endl;
fp@1142:     }
fp@1142: 
fp@1142:     delete [] processData;
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/