fp@1142: /*****************************************************************************
fp@1142:  *
fp@1363:  *  $Id$
fp@1363:  *
fp@2542:  *  Copyright (C) 2006-2014  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@1222: #include <string.h>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandXml.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandXml::CommandXml():
fp@1142:     Command("xml", "Generate slave information XML.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandXml::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@1327:         << "Note that the PDO information can either originate" << endl
fp@1142:         << "from the SII or from the CoE communication area. For" << endl
fp@1327:         << "slaves, that support configuring PDO assignment and" << endl
fp@1144:         << "mapping, the output depends on the last configuration." << endl
fp@1142:         << endl
fp@1142:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>" << endl
fp@1157:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1157:         << "                         the 'slaves' command." << 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 CommandXml::execute(const StringVector &args)
fp@1142: {
fp@1151:     SlaveList slaves;
fp@1151:     SlaveList::const_iterator si;
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@1870:     MasterDevice m(getSingleMasterIndex());
fp@1142:     m.open(MasterDevice::Read);
fp@1151:     slaves = selectedSlaves(m);
fp@1142: 
fp@1474:     cout << "<?xml version=\"1.0\" ?>" << endl;
fp@1474:     if (slaves.size() > 1) {
fp@1474:         cout << "<EtherCATInfoList>" << endl;
fp@1474:     }
fp@1474: 
fp@1151:     for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1474:         generateSlaveXml(m, *si, slaves.size() > 1 ? 1 : 0);
fp@1474:     }
fp@1474: 
fp@1474:     if (slaves.size() > 1) {
fp@1474:         cout << "</EtherCATInfoList>" << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1151: void CommandXml::generateSlaveXml(
fp@1151:         MasterDevice &m,
fp@1474:         const ec_ioctl_slave_t &slave,
fp@1474:         unsigned int indent
fp@1151:         )
fp@1142: {
fp@1142:     ec_ioctl_slave_sync_t sync;
fp@1142:     ec_ioctl_slave_sync_pdo_t pdo;
fp@1474:     string pdoType, in;
fp@1142:     ec_ioctl_slave_sync_pdo_entry_t entry;
fp@1142:     unsigned int i, j, k;
fp@1474: 
fp@1474:     for (i = 0; i < indent; i++) {
fp@1474:         in += "  ";
fp@1474:     }
fp@2421: 
fp@1142:     cout
fp@1474:         << in << "<EtherCATInfo>" << endl
fp@2542:         << in << "  <!-- Slave " << dec << slave.position << " -->" << endl
fp@1474:         << in << "  <Vendor>" << endl
fp@1474:         << in << "    <Id>" << slave.vendor_id << "</Id>" << endl
fp@1474:         << in << "  </Vendor>" << endl
fp@1474:         << in << "  <Descriptions>" << endl
fp@1474:         << in << "    <Devices>" << endl
fp@1474:         << in << "      <Device>" << endl
fp@1474:         << in << "        <Type ProductCode=\"#x"
fp@1142:         << hex << setfill('0') << setw(8) << slave.product_code
fp@1142:         << "\" RevisionNo=\"#x"
fp@1142:         << hex << setfill('0') << setw(8) << slave.revision_number
fp@1142:         << "\">" << slave.order << "</Type>" << endl;
fp@1142: 
fp@1142:     if (strlen(slave.name)) {
fp@1142:         cout
fp@1474:             << in << "        <Name><![CDATA["
fp@1142:             << slave.name
fp@1142:             << "]]></Name>" << endl;
fp@1142:     }
fp@1142: 
fp@1142:     for (i = 0; i < slave.sync_count; i++) {
fp@1151:         m.getSync(&sync, slave.position, i);
fp@1142: 
fp@1142:         cout
fp@2542:             << in << "        <Sm Enable=\""
fp@2542:             << dec << (unsigned int) sync.enable
fp@1890:             << "\" StartAddress=\"#x" << hex << sync.physical_start_address
fp@2542:             << "\" ControlByte=\"#x"
fp@2542:             << hex << (unsigned int) sync.control_register
fp@1890:             << "\" DefaultSize=\"" << dec << sync.default_size
fp@1142:             << "\" />" << endl;
fp@1142:     }
fp@1142: 
fp@1142:     for (i = 0; i < slave.sync_count; i++) {
fp@1151:         m.getSync(&sync, slave.position, i);
fp@1142: 
fp@1142:         for (j = 0; j < sync.pdo_count; j++) {
fp@1151:             m.getPdo(&pdo, slave.position, i, j);
fp@1142:             pdoType = (sync.control_register & 0x04 ? "R" : "T");
fp@1327:             pdoType += "xPdo"; // last 2 letters lowercase in XML!
fp@1142: 
fp@1142:             cout
fp@1474:                 << in << "        <" << pdoType
fp@1142:                 << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl
fp@1474:                 << in << "          <Index>#x"
fp@1142:                 << hex << setfill('0') << setw(4) << pdo.index
fp@1142:                 << "</Index>" << endl
fp@1474:                 << in << "          <Name>" << pdo.name << "</Name>" << endl;
fp@1142: 
fp@1142:             for (k = 0; k < pdo.entry_count; k++) {
fp@1151:                 m.getPdoEntry(&entry, slave.position, i, j, k);
fp@1142: 
fp@1142:                 cout
fp@1474:                     << in << "          <Entry>" << endl
fp@1474:                     << in << "            <Index>#x"
fp@1142:                     << hex << setfill('0') << setw(4) << entry.index
fp@1142:                     << "</Index>" << endl;
fp@1142:                 if (entry.index)
fp@1142:                     cout
fp@1474:                         << in << "            <SubIndex>"
fp@1142:                         << dec << (unsigned int) entry.subindex
fp@1142:                         << "</SubIndex>" << endl;
fp@2421: 
fp@1142:                 cout
fp@1474:                     << in << "            <BitLen>"
fp@1142:                     << dec << (unsigned int) entry.bit_length
fp@1142:                     << "</BitLen>" << endl;
fp@1142: 
fp@1142:                 if (entry.index) {
fp@1142:                     cout
fp@1474:                         << in << "            <Name>" << entry.name
fp@1142:                         << "</Name>" << endl
fp@1474:                         << in << "            <DataType>";
fp@1142: 
fp@1142:                     if (entry.bit_length == 1) {
fp@1142:                         cout << "BOOL";
fp@1142:                     } else if (!(entry.bit_length % 8)) {
fp@1560:                         if (entry.bit_length <= 64) {
fp@1142:                             cout << "UINT" << (unsigned int) entry.bit_length;
fp@1560:                         } else {
fp@1142:                             cout << "STRING("
fp@1142:                                 << (unsigned int) (entry.bit_length / 8)
fp@1142:                                 << ")";
fp@1560:                         }
fp@1142:                     } else {
fp@1560:                         cout << "BIT" << (unsigned int) entry.bit_length;
fp@1142:                     }
fp@1142: 
fp@1560:                     cout << "</DataType>" << endl;
fp@1142:                 }
fp@1142: 
fp@1474:                 cout << in << "          </Entry>" << endl;
fp@1142:             }
fp@1142: 
fp@1142:             cout
fp@1474:                 << in << "        </" << pdoType << ">" << endl;
fp@1142:         }
fp@1142:     }
fp@1142: 
fp@1142:     cout
fp@1474:         << in << "      </Device>" << endl
fp@1474:         << in << "    </Devices>" << endl
fp@1474:         << in << "  </Descriptions>" << endl
fp@1474:         << in << "</EtherCATInfo>" << endl;
fp@1474: }
fp@1474: 
fp@1142: /*****************************************************************************/