fp@922: /*****************************************************************************
fp@922:  *
fp@922:  * $Id$
fp@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #include <sys/types.h>
fp@922: #include <sys/stat.h>
fp@922: #include <fcntl.h>
fp@922: #include <errno.h>
fp@922: #include <sys/ioctl.h>
fp@922: 
fp@922: #include <iostream>
fp@922: #include <iomanip>
fp@922: #include <sstream>
fp@922: using namespace std;
fp@922: 
fp@922: #include "Master.h"
fp@922: #include "../master/ioctl.h"
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: Master::Master()
fp@922: {
fp@922:     index = 0;
fp@922:     fd = -1;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: Master::~Master()
fp@922: {
fp@922:     close();
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: void Master::open(unsigned int index)
fp@922: {
fp@922:     stringstream deviceName;
fp@922:     
fp@922:     Master::index = index;
fp@922: 
fp@922:     deviceName << "/dev/EtherCAT" << index;
fp@922:     
fp@922:     if ((fd = ::open(deviceName.str().c_str(), O_RDONLY)) == -1) {
fp@922:         stringstream err;
fp@922:         err << "Failed to open master device " << deviceName.str() << ": "
fp@922:             << strerror(errno);
fp@922:         throw MasterException(err.str());
fp@922:     }
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: void Master::close()
fp@922: {
fp@922:     if (fd == -1)
fp@922:         return;
fp@922: 
fp@922:     ::close(fd);
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: unsigned int Master::slaveCount()
fp@922: {
fp@922:     unsigned int numSlaves;
fp@922: 
fp@922:     if (ioctl(fd, EC_IOCTL_SLAVE_COUNT, &numSlaves)) {
fp@922:         stringstream err;
fp@922:         err << "Failed to get number of slaves: " << strerror(errno);
fp@922:         throw MasterException(err.str());
fp@922:     }
fp@922: 
fp@922:     return numSlaves;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: void Master::listSlaves()
fp@922: {
fp@922:     unsigned int numSlaves = slaveCount(), i;
fp@922:     struct ec_ioctl_slave_info *infos, *info;
fp@922:     uint16_t lastAlias, aliasIndex;
fp@922:     
fp@922:     if (!numSlaves)
fp@922:         return;
fp@922:     
fp@922:     infos = new struct ec_ioctl_slave_info[numSlaves];
fp@922: 
fp@922:     if (ioctl(fd, EC_IOCTL_SLAVE_INFO, infos)) {
fp@922:         stringstream err;
fp@922:         err << "Failed to get slave information: " << strerror(errno);
fp@922:         throw MasterException(err.str());
fp@922:     }
fp@922: 
fp@922:     lastAlias = 0;
fp@922:     aliasIndex = 0;
fp@922:     for (i = 0; i < numSlaves; i++) {
fp@922:         info = &infos[i];
fp@922:         cout << setw(2) << info->ring_position << "  ";
fp@922: 
fp@922:         if (info->alias) {
fp@922:             lastAlias = info->alias;
fp@922:             aliasIndex = 0;
fp@922:         }
fp@922:         if (lastAlias) {
fp@922:             cout << setw(10) << "#" << lastAlias << ":" << aliasIndex;
fp@922:         }
fp@922: 
fp@922:         cout << "  " << slaveState(info->state) << "  ";
fp@922: 
fp@922:         if (strlen(info->description)) {
fp@922:             cout << info->description;
fp@922:         } else {
fp@922:             cout << "0x" << hex << setfill('0') << info->vendor_id
fp@922:                 << ":0x" << info->product_code;
fp@922:         }
fp@922: 
fp@922:         cout << endl;
fp@922:     }
fp@922: 
fp@922:     delete [] infos;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: string Master::slaveState(uint8_t state) const
fp@922: {
fp@922:     switch (state) {
fp@922:         case 1: return "INIT";
fp@922:         case 2: return "PREOP";
fp@922:         case 4: return "SAFEOP";
fp@922:         case 8: return "OP";
fp@922:         default: return "???";
fp@922:     }
fp@922: }
fp@922: 
fp@922: /****************************************************************************/