fp@1126: /*****************************************************************************
fp@1126:  *
fp@1126:  * $Id$
fp@1126:  *
fp@1126:  ****************************************************************************/
fp@1126: 
fp@1126: #include <iostream>
fp@1126: #include <iomanip>
fp@1126: #include <list>
fp@1126: using namespace std;
fp@1126: 
fp@1126: #include "globals.h"
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: const char *help_slaves =
fp@1126:     "[OPTIONS]\n"
fp@1126:     "\n"
fp@1126:     "\n"
fp@1126:     "Command-specific options:\n";
fp@1126: 
fp@1126: void listSlaves(int);
fp@1126: void showSlave(uint16_t);
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void command_slaves()
fp@1126: {
fp@1126:     masterDev.open(MasterDevice::Read);
fp@1126: 
fp@1126:     if (verbosity == Verbose) {
fp@1126:         if (slavePosition == -1) {
fp@1126:             unsigned int numSlaves = masterDev.slaveCount(), i;
fp@1126: 
fp@1126:             for (i = 0; i < numSlaves; i++) {
fp@1126:                 showSlave(i);
fp@1126:             }
fp@1126:         } else {
fp@1126:             showSlave(slavePosition);
fp@1126:         }
fp@1126:     } else {
fp@1126:         listSlaves(slavePosition);
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: string slaveState(uint8_t state)
fp@1126: {
fp@1126:     switch (state) {
fp@1126:         case 1: return "INIT";
fp@1126:         case 2: return "PREOP";
fp@1126:         case 4: return "SAFEOP";
fp@1126:         case 8: return "OP";
fp@1126:         default: return "???";
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: struct SlaveInfo {
fp@1126:     string pos;
fp@1126:     string alias;
fp@1126:     string relPos;
fp@1126:     string state;
fp@1126:     string flag;
fp@1126:     string name;
fp@1126: };
fp@1126: 
fp@1126: void listSlaves(int slavePosition)
fp@1126: {
fp@1126:     unsigned int numSlaves, i;
fp@1126:     ec_ioctl_slave_t slave;
fp@1126:     uint16_t lastAlias, aliasIndex;
fp@1126:     SlaveInfo slaveInfo;
fp@1126:     typedef list<SlaveInfo> SlaveInfoList;
fp@1126:     SlaveInfoList slaveInfoList;
fp@1126:     SlaveInfoList::const_iterator iter;
fp@1126:     stringstream str;
fp@1126:     unsigned int maxPosWidth = 0, maxAliasWidth = 0,
fp@1126:                  maxRelPosWidth = 0, maxStateWidth = 0;
fp@1126:     
fp@1126:     numSlaves = masterDev.slaveCount();
fp@1126: 
fp@1126:     lastAlias = 0;
fp@1126:     aliasIndex = 0;
fp@1126:     for (i = 0; i < numSlaves; i++) {
fp@1126:         masterDev.getSlave(&slave, i);
fp@1126:         
fp@1126:         if (slave.alias) {
fp@1126:             lastAlias = slave.alias;
fp@1126:             aliasIndex = 0;
fp@1126:         }
fp@1126: 
fp@1126:         if (slavePosition == -1 || i == (unsigned int) slavePosition) {
fp@1126:             str << dec << i;
fp@1126:             slaveInfo.pos = str.str();
fp@1126:             str.clear();
fp@1126:             str.str("");
fp@1126: 
fp@1126:             str << lastAlias;
fp@1126:             slaveInfo.alias = str.str();
fp@1126:             str.str("");
fp@1126: 
fp@1126:             str << aliasIndex;
fp@1126:             slaveInfo.relPos = str.str();
fp@1126:             str.str("");
fp@1126: 
fp@1126:             slaveInfo.state = slaveState(slave.state);
fp@1126:             slaveInfo.flag = (slave.error_flag ? 'E' : '+');
fp@1126: 
fp@1126:             if (strlen(slave.name)) {
fp@1126:                 slaveInfo.name = slave.name;
fp@1126:             } else {
fp@1126:                 str << "0x" << hex << setfill('0')
fp@1126:                     << setw(8) << slave.vendor_id << ":0x"
fp@1126:                     << setw(8) << slave.product_code;
fp@1126:                 slaveInfo.name = str.str();
fp@1126:                 str.str("");
fp@1126:             }
fp@1126: 
fp@1126: 
fp@1126:             slaveInfoList.push_back(slaveInfo);
fp@1126: 
fp@1126:             if (slaveInfo.pos.length() > maxPosWidth)
fp@1126:                 maxPosWidth = slaveInfo.pos.length();
fp@1126:             if (slaveInfo.alias.length() > maxAliasWidth)
fp@1126:                 maxAliasWidth = slaveInfo.alias.length();
fp@1126:             if (slaveInfo.relPos.length() > maxRelPosWidth)
fp@1126:                 maxRelPosWidth = slaveInfo.relPos.length();
fp@1126:             if (slaveInfo.state.length() > maxStateWidth)
fp@1126:                 maxStateWidth = slaveInfo.state.length();
fp@1126:         }
fp@1126: 
fp@1126:         aliasIndex++;
fp@1126:     }
fp@1126: 
fp@1126:     for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
fp@1126:         cout << setfill(' ') << right
fp@1126:             << setw(maxPosWidth) << iter->pos << "  "
fp@1126:             << setw(maxAliasWidth) << iter->alias
fp@1126:             << ":" << left
fp@1126:             << setw(maxRelPosWidth) << iter->relPos << "  "
fp@1126:             << setw(maxStateWidth) << iter->state << "  "
fp@1126:             << iter->flag << "  "
fp@1126:             << iter->name << endl;
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void showSlave(uint16_t slavePosition)
fp@1126: {
fp@1126:     ec_ioctl_slave_t slave;
fp@1126:     list<string> protoList;
fp@1126:     list<string>::const_iterator protoIter;
fp@1126:     
fp@1126:     masterDev.getSlave(&slave, slavePosition);
fp@1126:         
fp@1126:     cout << "=== Slave " << dec << slavePosition << " ===" << endl;
fp@1126:     
fp@1126:     if (slave.alias)
fp@1126:         cout << "Alias: " << slave.alias << endl;
fp@1126: 
fp@1126:     cout
fp@1126:         << "State: " << slaveState(slave.state) << endl
fp@1126:         << "Flag: " << (slave.error_flag ? 'E' : '+') << endl
fp@1126:         << "Identity:" << endl
fp@1126:         << "  Vendor Id:       0x"
fp@1126:         << hex << setfill('0')
fp@1126:         << setw(8) << slave.vendor_id << endl
fp@1126:         << "  Product code:    0x"
fp@1126:         << setw(8) << slave.product_code << endl
fp@1126:         << "  Revision number: 0x"
fp@1126:         << setw(8) << slave.revision_number << endl
fp@1126:         << "  Serial number:   0x"
fp@1126:         << setw(8) << slave.serial_number << endl;
fp@1126: 
fp@1126:     if (slave.mailbox_protocols) {
fp@1126:         cout << "Mailboxes:" << endl
fp@1126:         << "  RX: 0x"
fp@1126:         << hex << setw(4) << slave.rx_mailbox_offset << "/"
fp@1126:         << dec << slave.rx_mailbox_size
fp@1126:         << ", TX: 0x"
fp@1126:         << hex << setw(4) << slave.tx_mailbox_offset << "/"
fp@1126:         << dec << slave.tx_mailbox_size << endl
fp@1126:         << "  Supported protocols: ";
fp@1126: 
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_AOE) {
fp@1126:             protoList.push_back("AoE");
fp@1126:         }
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_EOE) {
fp@1126:             protoList.push_back("EoE");
fp@1126:         }
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_COE) {
fp@1126:             protoList.push_back("CoE");
fp@1126:         }
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_FOE) {
fp@1126:             protoList.push_back("FoE");
fp@1126:         }
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_SOE) {
fp@1126:             protoList.push_back("SoE");
fp@1126:         }
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_VOE) {
fp@1126:             protoList.push_back("VoE");
fp@1126:         }
fp@1126: 
fp@1126:         for (protoIter = protoList.begin(); protoIter != protoList.end();
fp@1126:                 protoIter++) {
fp@1126:             if (protoIter != protoList.begin())
fp@1126:                 cout << ", ";
fp@1126:             cout << *protoIter;
fp@1126:         }
fp@1126:         cout << endl;
fp@1126:     }
fp@1126: 
fp@1126:     if (slave.has_general_category) {
fp@1126:         cout << "General:" << endl
fp@1126:             << "  Group: " << slave.group << endl
fp@1126:             << "  Image name: " << slave.image << endl
fp@1126:             << "  Order number: " << slave.order << endl
fp@1126:             << "  Device name: " << slave.name << endl;
fp@1126: 
fp@1126:         if (slave.mailbox_protocols & EC_MBOX_COE) {
fp@1126:             cout << "  CoE details:" << endl
fp@1126:                 << "    Enable Sdo: "
fp@1126:                 << (slave.coe_details.enable_sdo ? "yes" : "no") << endl
fp@1126:                 << "    Enable Sdo Info: "
fp@1126:                 << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
fp@1126:                 << "    Enable Pdo Assign: "
fp@1126:                 << (slave.coe_details.enable_pdo_assign
fp@1126:                         ? "yes" : "no") << endl
fp@1126:                 << "    Enable Pdo Configuration: "
fp@1126:                 << (slave.coe_details.enable_pdo_configuration
fp@1126:                         ? "yes" : "no") << endl
fp@1126:                 << "    Enable Upload at startup: "
fp@1126:                 << (slave.coe_details.enable_upload_at_startup
fp@1126:                         ? "yes" : "no") << endl
fp@1126:                 << "    Enable Sdo complete access: "
fp@1126:                 << (slave.coe_details.enable_sdo_complete_access
fp@1126:                         ? "yes" : "no") << endl;
fp@1126:         }
fp@1126: 
fp@1126:         cout << "  Flags:" << endl
fp@1126:             << "    Enable SafeOp: "
fp@1126:             << (slave.general_flags.enable_safeop ? "yes" : "no") << endl
fp@1126:             << "    Enable notLRW: "
fp@1126:             << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
fp@1126:             << "  Current consumption: "
fp@1126:             << dec << slave.current_on_ebus << " mA" << endl;
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /*****************************************************************************/