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: #include <list>
fp@1222: #include <string.h>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandSlaves.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandSlaves::CommandSlaves():
fp@1142:     Command("slaves", "Display slaves on the bus.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandSlaves::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
fp@1142:         << endl
fp@1142:         << getBriefDescription() << endl
fp@1142:         << endl
fp@1142:         << "If the --verbose option is not given, the slaves are" << endl
fp@1142:         << "displayed one-per-line. Example:" << endl
fp@1142:         << endl
fp@1142:         << "1  5555:0  PREOP  +  EL3162 2C. Ana. Input 0-10V" << endl
fp@1142:         << "|  |    |  |      |  |" << endl
fp@1144:         << "|  |    |  |      |  \\- Name from the SII if avaliable," << endl
fp@1144:         << "|  |    |  |      |     otherwise vendor ID and product" << endl
fp@1144:         << "|  |    |  |      |     code (both hexadecimal)." << endl
fp@1142:         << "|  |    |  |      \\- Error flag. '+' means no error," << endl
fp@1144:         << "|  |    |  |         'E' means that scan or" << endl
fp@1142:         << "|  |    |  |         configuration failed." << endl
fp@1144:         << "|  |    |  \\- Current application-layer state." << endl
fp@1157:         << "|  |    \\- Decimal relative position to the last" << endl
fp@1142:         << "|  |       slave with an alias address set." << endl
fp@1157:         << "|  \\- Decimal alias address of this slave (if set)," << endl
fp@1157:         << "|     otherwise of the last slave with an alias set," << endl
fp@1157:         << "|     or zero, if no alias was encountered up to this" << endl
fp@1157:         << "|     position." << endl
fp@1157:         << "\\- Absolute ring position in the bus." << endl
fp@1142:         << endl
fp@1142:         << "If the --verbose option is given, a detailed (multi-line)" << endl
fp@1142:         << "description is output for each slave." << endl
fp@1142:         << endl
fp@1157:         << "Slave selection:" << endl
fp@1157:         << "  Slaves for this and other commands 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@1157:         << "     is given, all slaves are selected." << endl
fp@1157:         << "  2) If only the --position option is given, it is" << endl
fp@1157:         << "     interpreted as an absolute ring position and" << endl
fp@1157:         << "     a slave with this position is matched." << endl
fp@1157:         << "  3) If only the --alias option is given, all slaves" << endl
fp@1157:         << "     with the given alias address and subsequent" << endl
fp@1157:         << "     slaves before a slave with a different alias" << endl
fp@1157:         << "     address match (use -p0 if only the slaves" << endl
fp@1157:         << "     with the given alias are desired, see 4))." << endl
fp@1157:         << "  4) If both the --alias and the --position option are" << endl
fp@1157:         << "     given, the latter is interpreted as relative" << endl
fp@1157:         << "     position behind any slave with the given alias." << endl
fp@1157:         << endl
fp@1142:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>  Slave alias (see above)." << endl
fp@1157:         << "  --position -p <pos>    Slave position (see above)." << endl
fp@1157:         << "  --verbose  -v          Show detailed slave information." << endl
fp@1142:         << endl
fp@1142:         << numericInfo();
fp@1142: 
fp@1142:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandSlaves::execute(const StringVector &args)
fp@1142: {
fp@1869: 	MasterIndexList masterIndices;
fp@1151:     SlaveList slaves;
fp@1826:     bool doIndent;
fp@1151:     
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:         slaves = selectedSlaves(m);
fp@1826: 
fp@1826:         if (getVerbosity() == Verbose) {
fp@1826:             showSlaves(m, slaves);
fp@1826:         } else {
fp@1826:             listSlaves(m, slaves, doIndent);
fp@1826:         }
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandSlaves::listSlaves(
fp@1142:         MasterDevice &m,
fp@1826:         const SlaveList &slaves,
fp@1826:         bool doIndent
fp@1142:         )
fp@1142: {
fp@1160:     ec_ioctl_master_t master;
fp@2374:     unsigned int i, lastDevice;
fp@1142:     ec_ioctl_slave_t slave;
fp@1142:     uint16_t lastAlias, aliasIndex;
fp@1142:     Info info;
fp@1142:     typedef list<Info> InfoList;
fp@1142:     InfoList infoList;
fp@1142:     InfoList::const_iterator iter;
fp@1142:     stringstream str;
fp@1142:     unsigned int maxPosWidth = 0, maxAliasWidth = 0,
fp@1142:                  maxRelPosWidth = 0, maxStateWidth = 0;
fp@1826:     string indent(doIndent ? "  " : "");
fp@1142:     
fp@1160:     m.getMaster(&master);
fp@1142: 
fp@1142:     lastAlias = 0;
fp@1142:     aliasIndex = 0;
fp@1160:     for (i = 0; i < master.slave_count; i++) {
fp@1142:         m.getSlave(&slave, i);
fp@1142:         
fp@1142:         if (slave.alias) {
fp@1142:             lastAlias = slave.alias;
fp@1142:             aliasIndex = 0;
fp@1142:         }
fp@1142: 
fp@1151:         if (slaveInList(slave, slaves)) {
fp@1142:             str << dec << i;
fp@1142:             info.pos = str.str();
fp@1142:             str.clear();
fp@1142:             str.str("");
fp@1142: 
fp@1142:             str << lastAlias;
fp@1142:             info.alias = str.str();
fp@1142:             str.str("");
fp@1142: 
fp@1142:             str << aliasIndex;
fp@1142:             info.relPos = str.str();
fp@1142:             str.str("");
fp@1142: 
fp@1148:             info.state = alStateString(slave.al_state);
fp@1142:             info.flag = (slave.error_flag ? 'E' : '+');
fp@2374:             info.device = slave.device_index;
fp@1142: 
fp@1142:             if (strlen(slave.name)) {
fp@1142:                 info.name = slave.name;
fp@1142:             } else {
fp@1142:                 str << "0x" << hex << setfill('0')
fp@1142:                     << setw(8) << slave.vendor_id << ":0x"
fp@1142:                     << setw(8) << slave.product_code;
fp@1142:                 info.name = str.str();
fp@1142:                 str.str("");
fp@1142:             }
fp@1142: 
fp@1142: 
fp@1142:             infoList.push_back(info);
fp@1142: 
fp@1142:             if (info.pos.length() > maxPosWidth)
fp@1142:                 maxPosWidth = info.pos.length();
fp@1142:             if (info.alias.length() > maxAliasWidth)
fp@1142:                 maxAliasWidth = info.alias.length();
fp@1142:             if (info.relPos.length() > maxRelPosWidth)
fp@1142:                 maxRelPosWidth = info.relPos.length();
fp@1142:             if (info.state.length() > maxStateWidth)
fp@1142:                 maxStateWidth = info.state.length();
fp@1142:         }
fp@1142: 
fp@1142:         aliasIndex++;
fp@1142:     }
fp@1142: 
fp@1827:     if (infoList.size() && doIndent) {
fp@1827:         cout << "Master" << dec << m.getIndex() << endl;
fp@1827:     }
fp@1827: 
fp@2374:     lastDevice = EC_DEVICE_MAIN;
fp@1142:     for (iter = infoList.begin(); iter != infoList.end(); iter++) {
fp@2374:         if (iter->device != lastDevice) {
fp@2374:             lastDevice = iter->device;
fp@2374:             cout << "xxx LINK FAILURE xxx" << endl;
fp@2374:         }
fp@1826:         cout << indent << setfill(' ') << right
fp@1142:             << setw(maxPosWidth) << iter->pos << "  "
fp@1142:             << setw(maxAliasWidth) << iter->alias
fp@1142:             << ":" << left
fp@1142:             << setw(maxRelPosWidth) << iter->relPos << "  "
fp@1142:             << setw(maxStateWidth) << iter->state << "  "
fp@1142:             << iter->flag << "  "
fp@1142:             << iter->name << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1151: void CommandSlaves::showSlaves(
fp@1142:         MasterDevice &m,
fp@1151:         const SlaveList &slaves
fp@1142:         )
fp@1142: {
fp@1151:     SlaveList::const_iterator si;
fp@1379:     int i;
fp@1151: 
fp@1151:     for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1826:         cout << "=== Master " << dec << m.getIndex()
fp@1826:             << ", Slave " << dec << si->position << " ===" << endl;
fp@1151: 
fp@1151:         if (si->alias)
fp@1151:             cout << "Alias: " << si->alias << endl;
fp@1151: 
fp@1151:         cout
fp@2374:             << "Device: " << (si->device_index ? "Backup" : "Main") << endl
fp@1151:             << "State: " << alStateString(si->al_state) << endl
fp@1151:             << "Flag: " << (si->error_flag ? 'E' : '+') << endl
fp@1151:             << "Identity:" << endl
fp@1151:             << "  Vendor Id:       0x"
fp@1151:             << hex << setfill('0')
fp@1151:             << setw(8) << si->vendor_id << endl
fp@1151:             << "  Product code:    0x"
fp@1151:             << setw(8) << si->product_code << endl
fp@1151:             << "  Revision number: 0x"
fp@1151:             << setw(8) << si->revision_number << endl
fp@1151:             << "  Serial number:   0x"
fp@1151:             << setw(8) << si->serial_number << endl;
fp@1151: 
fp@1379:         cout << "DL information:" << endl
fp@1379:             << "  FMMU bit operation: "
fp@1379:             << (si->fmmu_bit ? "yes" : "no") << endl
fp@1379:             << "  Distributed clocks: ";
fp@1379:         if (si->dc_supported) {
fp@1419:             if (si->has_dc_system_time) {
fp@1419:                 cout << "yes, ";
fp@1419:                 switch (si->dc_range) {
fp@1419:                     case EC_DC_32:
fp@1419:                         cout << "32 bit";
fp@1419:                         break;
fp@1419:                     case EC_DC_64:
fp@1419:                         cout << "64 bit";
fp@1419:                         break;
fp@1419:                     default:
fp@1419:                         cout << "???";
fp@1419:                 }
fp@1420:                 cout << endl;
fp@1419:             } else {
fp@1420:                 cout << "yes, delay measurement only" << endl;
fp@1419:             }
fp@1426:             cout << "  DC system time transmission delay: "
fp@1429:                 << dec << si->transmission_delay << " ns" << endl;
fp@1379:         } else {
fp@1420:             cout << "no" << endl;
fp@1420:         }
fp@1420: 
fp@1421:         cout << "Port  Type  Link  Loop    Signal  NextSlave";
fp@1420:         if (si->dc_supported)
fp@1425:             cout << "  RxTime [ns]  Diff [ns]   NextDc [ns]";
fp@1379:         cout << endl;
fp@1420:             
fp@1420:         for (i = 0; i < EC_MAX_PORTS; i++) {
fp@1420:             cout << "   " << i << "  " << setfill(' ') << left << setw(4);
fp@1425:             switch (si->ports[i].desc) {
fp@1420:                 case EC_PORT_NOT_IMPLEMENTED:
fp@1420:                     cout << "N/A";
fp@1420:                     break;
fp@1420:                 case EC_PORT_NOT_CONFIGURED:
fp@1420:                     cout << "N/C";
fp@1420:                     break;
fp@1420:                 case EC_PORT_EBUS:
fp@1420:                     cout << "EBUS";
fp@1420:                     break;
fp@1420:                 case EC_PORT_MII:
fp@1420:                     cout << "MII";
fp@1420:                     break;
fp@1420:                 default:
fp@1420:                     cout << "???";
fp@1420:             }
fp@1420: 
fp@1420:             cout << "  " << setw(4)
fp@1425:                 << (si->ports[i].link.link_up ? "up" : "down")
fp@1420:                 << "  " << setw(6)
fp@1425:                 << (si->ports[i].link.loop_closed ? "closed" : "open")
fp@1421:                 << "  " << setw(6)
fp@1425:                 << (si->ports[i].link.signal_detected ? "yes" : "no")
fp@1421:                 << "  " << setw(9) << right;
fp@1421: 
fp@1425:             if (si->ports[i].next_slave != 0xffff) {
fp@1425:                 cout << dec << si->ports[i].next_slave;
fp@1421:             } else {
fp@1421:                 cout << "-";
fp@1421:             }
fp@1420:             
fp@1420:             if (si->dc_supported) {
fp@1425:                 cout << "  " << setw(11) << right;
fp@1425:                 if (!si->ports[i].link.loop_closed) {
fp@1425:                     cout << dec << si->ports[i].receive_time;
fp@1420:                 } else {
fp@1420:                     cout << "-";
fp@1420:                 }
fp@1420:                 cout << "  " << setw(10);
fp@1425:                 if (!si->ports[i].link.loop_closed) {
fp@2374:                     cout << si->ports[i].receive_time -
fp@2374:                         si->ports[0].receive_time;
fp@1425:                 } else {
fp@1425:                     cout << "-";
fp@1425:                 }
fp@1425:                 cout << "  " << setw(10);
fp@1425:                 if (!si->ports[i].link.loop_closed) {
fp@1425:                     cout << si->ports[i].delay_to_next_dc;
fp@1420:                 } else {
fp@1420:                     cout << "-";
fp@1420:                 }
fp@1420:             }
fp@1420: 
fp@1420:             cout << endl;
fp@1420:         }
fp@1379: 
fp@1151:         if (si->mailbox_protocols) {
fp@1220:             list<string> protoList;
fp@1220:             list<string>::const_iterator protoIter;
fp@1220: 
fp@1151:             cout << "Mailboxes:" << endl
fp@1463:                 << "  Bootstrap RX: 0x" << setfill('0')
fp@1337:                 << hex << setw(4) << si->boot_rx_mailbox_offset << "/"
fp@1337:                 << dec << si->boot_rx_mailbox_size
fp@1151:                 << ", TX: 0x"
fp@1337:                 << hex << setw(4) << si->boot_tx_mailbox_offset << "/"
fp@1337:                 << dec << si->boot_tx_mailbox_size << endl
fp@1337:                 << "  Standard  RX: 0x"
fp@1337:                 << hex << setw(4) << si->std_rx_mailbox_offset << "/"
fp@1337:                 << dec << si->std_rx_mailbox_size
fp@1337:                 << ", TX: 0x"
fp@1337:                 << hex << setw(4) << si->std_tx_mailbox_offset << "/"
fp@1337:                 << dec << si->std_tx_mailbox_size << endl
fp@1151:                 << "  Supported protocols: ";
fp@1151: 
fp@1151:             if (si->mailbox_protocols & EC_MBOX_AOE) {
fp@1151:                 protoList.push_back("AoE");
fp@1151:             }
fp@1151:             if (si->mailbox_protocols & EC_MBOX_EOE) {
fp@1151:                 protoList.push_back("EoE");
fp@1151:             }
fp@1151:             if (si->mailbox_protocols & EC_MBOX_COE) {
fp@1151:                 protoList.push_back("CoE");
fp@1151:             }
fp@1151:             if (si->mailbox_protocols & EC_MBOX_FOE) {
fp@1151:                 protoList.push_back("FoE");
fp@1151:             }
fp@1151:             if (si->mailbox_protocols & EC_MBOX_SOE) {
fp@1151:                 protoList.push_back("SoE");
fp@1151:             }
fp@1151:             if (si->mailbox_protocols & EC_MBOX_VOE) {
fp@1151:                 protoList.push_back("VoE");
fp@1151:             }
fp@1151: 
fp@1151:             for (protoIter = protoList.begin(); protoIter != protoList.end();
fp@1151:                     protoIter++) {
fp@1151:                 if (protoIter != protoList.begin())
fp@1151:                     cout << ", ";
fp@1151:                 cout << *protoIter;
fp@1151:             }
fp@1151:             cout << endl;
fp@1151:         }
fp@1151: 
fp@1151:         if (si->has_general_category) {
fp@1151:             cout << "General:" << endl
fp@1151:                 << "  Group: " << si->group << endl
fp@1151:                 << "  Image name: " << si->image << endl
fp@1151:                 << "  Order number: " << si->order << endl
fp@1151:                 << "  Device name: " << si->name << endl;
fp@1151: 
fp@1151:             if (si->mailbox_protocols & EC_MBOX_COE) {
fp@1151:                 cout << "  CoE details:" << endl
fp@1327:                     << "    Enable SDO: "
fp@1151:                     << (si->coe_details.enable_sdo ? "yes" : "no") << endl
fp@1327:                     << "    Enable SDO Info: "
fp@2374:                     << (si->coe_details.enable_sdo_info ? "yes" : "no")
fp@2374:                     << endl
fp@1327:                     << "    Enable PDO Assign: "
fp@1151:                     << (si->coe_details.enable_pdo_assign
fp@1151:                             ? "yes" : "no") << endl
fp@1327:                     << "    Enable PDO Configuration: "
fp@1151:                     << (si->coe_details.enable_pdo_configuration
fp@1151:                             ? "yes" : "no") << endl
fp@1151:                     << "    Enable Upload at startup: "
fp@1151:                     << (si->coe_details.enable_upload_at_startup
fp@1151:                             ? "yes" : "no") << endl
fp@1327:                     << "    Enable SDO complete access: "
fp@1151:                     << (si->coe_details.enable_sdo_complete_access
fp@1151:                             ? "yes" : "no") << endl;
fp@1151:             }
fp@1151: 
fp@1151:             cout << "  Flags:" << endl
fp@1151:                 << "    Enable SafeOp: "
fp@1151:                 << (si->general_flags.enable_safeop ? "yes" : "no") << endl
fp@1151:                 << "    Enable notLRW: "
fp@1151:                 << (si->general_flags.enable_not_lrw ? "yes" : "no") << endl
fp@1151:                 << "  Current consumption: "
fp@1151:                 << dec << si->current_on_ebus << " mA" << endl;
fp@1151:         }
fp@1151:     }
fp@1151: }
fp@1151: 
fp@1151: /****************************************************************************/
fp@1151: 
fp@1151: bool CommandSlaves::slaveInList(
fp@1151:         const ec_ioctl_slave_t &slave,
fp@1151:         const SlaveList &slaves
fp@1151:         )
fp@1151: {
fp@1151:     SlaveList::const_iterator si;
fp@1151: 
fp@1151:     for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1151:         if (si->position == slave.position) {
fp@1151:             return true;
fp@1151:         }
fp@1151:     }
fp@1151: 
fp@1151:     return false;
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/