fp@1142: /*****************************************************************************
fp@1142:  *
fp@1142:  * $Id$
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <list>
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: #include <sstream>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandConfig.h"
fp@1142: #include "byteorder.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandConfig::CommandConfig():
fp@1142:     Command("config", "Show slave configurations.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: string CommandConfig::helpString() const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1144:     str << getName() << " [OPTIONS]" << endl
fp@1144:     	<< endl
fp@1144:     	<< getBriefDescription() << endl
fp@1142:     	<< endl
fp@1142:     	<< "Without the --verbose option, slave configurations are" << endl
fp@1142:     	<< "output one-per-line. Example:" << endl
fp@1142:     	<< endl
fp@1147:     	<< "1001:0  0x0000003b/0x02010000  3  OP" << endl
fp@1142:     	<< "|       |                      |  |" << endl
fp@1147:     	<< "|       |                      |  \\- Application-layer" << endl
fp@1147:     	<< "|       |                      |     state of the attached" << endl
fp@1147:     	<< "|       |                      |     slave, or '-', if no" << endl
fp@1147:     	<< "|       |                      |     slave is attached." << endl
fp@1147:     	<< "|       |                      \\- Absolute decimal ring" << endl
fp@1147:     	<< "|       |                         position of the attached" << endl
fp@1147:     	<< "|       |                         slave, or '-' if none" << endl
fp@1147:     	<< "|       |                         attached." << endl
fp@1157:     	<< "|       \\- Expected vendor ID and product code (both" << endl
fp@1144:     	<< "|          hexadecimal)." << endl
fp@1157:     	<< "\\- Alias address and relative position (both decimal)." << endl
fp@1142:     	<< endl
fp@1686:     	<< "With the --verbose option given, the configured PDOs and" << endl
fp@1686:     	<< "SDOs are output in addition." << endl
fp@1157:         << endl
fp@1157:         << "Configuration selection:" << endl
fp@1157:         << "  Slave configurations 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@1167:         << "     is given, all slave configurations are displayed." << endl
fp@1157:         << "  2) If only the --position option is given, an alias" << endl
fp@1157:         << "     of zero is assumed (see 4))." << endl
fp@1157:         << "  3) If only the --alias option is given, all slave" << endl
fp@1157:         << "     configurations with the given alias address" << endl
fp@1167:         << "     are displayed." << endl
fp@1157:         << "  4) If both the --alias and the --position option are" << endl
fp@1167:         << "     given, the selection can match a single" << endl
fp@1167:         << "     configuration, that is displayed, if it exists." << endl
fp@1142:     	<< endl
fp@1142:     	<< "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>  Configuration alias (see above)." << endl
fp@1157:         << "  --position -p <pos>    Relative position (see above)." << endl
fp@1157:     	<< "  --verbose  -v          Show detailed configurations." << endl
fp@1157:         << endl
fp@1157:         << numericInfo();
fp@1142: 
fp@1142: 	return str.str();
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Lists the bus configuration.
fp@1142:  */
fp@1142: void CommandConfig::execute(MasterDevice &m, const StringVector &args)
fp@1142: {
fp@1156:     ConfigList configs;
fp@1142: 
fp@1142:     m.open(MasterDevice::Read);
fp@1156:     configs = selectedConfigs(m);
fp@1142: 
fp@1142:     if (getVerbosity() == Verbose) {
fp@1156:         showDetailedConfigs(m, configs);
fp@1142:     } else {
fp@1156:         listConfigs(m, configs);
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Lists the complete bus configuration.
fp@1142:  */
fp@1142: void CommandConfig::showDetailedConfigs(
fp@1142: 		MasterDevice &m,
fp@1142: 		const ConfigList &configList
fp@1142: 		)
fp@1142: {
fp@1142:     ConfigList::const_iterator configIter;
fp@1142:     unsigned int j, k, l;
fp@1147:     ec_ioctl_slave_t slave;
fp@1142:     ec_ioctl_config_pdo_t pdo;
fp@1142:     ec_ioctl_config_pdo_entry_t entry;
fp@1142:     ec_ioctl_config_sdo_t sdo;
fp@1142: 
fp@1142:     for (configIter = configList.begin();
fp@1142:             configIter != configList.end();
fp@1142:             configIter++) {
fp@1142: 
fp@1142:         cout << "Alias: "
fp@1142:             << dec << configIter->alias << endl
fp@1142:             << "Position: " << configIter->position << endl
fp@1142:             << "Vendor Id: 0x"
fp@1142:             << hex << setfill('0')
fp@1142:             << setw(8) << configIter->vendor_id << endl
fp@1142:             << "Product code: 0x"
fp@1142:             << setw(8) << configIter->product_code << endl
fp@1147:             << "Attached slave: ";
fp@1147:         
fp@1147:         if (configIter->slave_position != -1) {
fp@1147:             m.getSlave(&slave, configIter->slave_position);
fp@1172:             cout << dec << configIter->slave_position
fp@1148:                 << " (" << alStateString(slave.al_state) << ")" << endl;
fp@1147:         } else {
fp@1147:             cout << "none" << endl;
fp@1147:         }
fp@1142: 
fp@1142:         for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
fp@1142:             if (configIter->syncs[j].pdo_count) {
fp@1142:                 cout << "SM" << dec << j << " ("
fp@1142:                     << (configIter->syncs[j].dir == EC_DIR_INPUT
fp@1142:                             ? "Input" : "Output") << ")" << endl;
fp@1142:                 for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
fp@1142:                     m.getConfigPdo(&pdo, configIter->config_index, j, k);
fp@1142: 
fp@1686:                     cout << "  PDO 0x" << hex << setw(4) << pdo.index << endl;
fp@1142: 
fp@1142:                     for (l = 0; l < pdo.entry_count; l++) {
fp@1142:                         m.getConfigPdoEntry(&entry,
fp@1142:                                 configIter->config_index, j, k, l);
fp@1142: 
fp@1686:                         cout << "    PDO entry 0x" << hex << setfill('0')
fp@1142:                             << setw(4) << entry.index << ":"
fp@1142:                             << setw(2) << (unsigned int) entry.subindex
fp@1188:                             << ", " << dec << setfill(' ')
fp@1188:                             << setw(2) << (unsigned int) entry.bit_length
fp@1188:                             << " bit" << endl;
fp@1142:                     }
fp@1142:                 }
fp@1142:             }
fp@1142:         }
fp@1142: 
fp@1686:         cout << "SDO configuration:" << endl;
fp@1142:         if (configIter->sdo_count) {
fp@1142:             for (j = 0; j < configIter->sdo_count; j++) {
fp@1142:                 m.getConfigSdo(&sdo, configIter->config_index, j);
fp@1142: 
fp@1142:                 cout << "  0x"
fp@1142:                     << hex << setfill('0')
fp@1142:                     << setw(4) << sdo.index << ":"
fp@1142:                     << setw(2) << (unsigned int) sdo.subindex
fp@1142:                     << ", " << dec << sdo.size << " byte: " << hex;
fp@1142: 
fp@1142:                 switch (sdo.size) {
fp@1142:                     case 1:
fp@1142:                         cout << "0x" << setw(2)
fp@1142:                             << (unsigned int) *(uint8_t *) &sdo.data;
fp@1142:                         break;
fp@1142:                     case 2:
fp@1142:                         cout << "0x" << setw(4)
fp@1142:                             << le16tocpu(*(uint16_t *) &sdo.data);
fp@1142:                         break;
fp@1142:                     case 4:
fp@1142:                         cout << "0x" << setw(8)
fp@1142:                             << le32tocpu(*(uint32_t *) &sdo.data);
fp@1142:                         break;
fp@1142:                     default:
fp@1142:                         cout << "???";
fp@1142:                 }
fp@1142: 
fp@1142:                 cout << endl;
fp@1142:             }
fp@1142:         } else {
fp@1142:             cout << "  None." << endl;
fp@1142:         }
fp@1142: 
fp@1142:         cout << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Lists the bus configuration.
fp@1142:  */
fp@1147: void CommandConfig::listConfigs(
fp@1147:         MasterDevice &m,
fp@1147:         const ConfigList &configList
fp@1147:         )
fp@1142: {
fp@1142:     ConfigList::const_iterator configIter;
fp@1142:     stringstream str;
fp@1142:     Info info;
fp@1142:     typedef list<Info> InfoList;
fp@1142:     InfoList list;
fp@1142:     InfoList::const_iterator iter;
fp@1142:     unsigned int maxAliasWidth = 0, maxPosWidth = 0,
fp@1147:                  maxSlavePosWidth = 0, maxStateWidth = 0;
fp@1147:     ec_ioctl_slave_t slave;
fp@1142: 
fp@1142:     for (configIter = configList.begin();
fp@1142:             configIter != configList.end();
fp@1142:             configIter++) {
fp@1142: 
fp@1142:         str << dec << configIter->alias;
fp@1142:         info.alias = str.str();
fp@1142:         str.clear();
fp@1142:         str.str("");
fp@1142: 
fp@1142:         str << configIter->position;
fp@1142:         info.pos = str.str();
fp@1142:         str.clear();
fp@1142:         str.str("");
fp@1142: 
fp@1142:         str << hex << setfill('0')
fp@1142:             << "0x" << setw(8) << configIter->vendor_id
fp@1142:             << "/0x" << setw(8) << configIter->product_code;
fp@1142:         info.ident = str.str();
fp@1142:         str.clear();
fp@1142:         str.str("");
fp@1142: 
fp@1147:         if (configIter->slave_position != -1) {
fp@1147:             m.getSlave(&slave, configIter->slave_position);
fp@1147: 
fp@1172:             str << dec << configIter->slave_position;
fp@1147:             info.slavePos = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147: 
fp@1148:             str << alStateString(slave.al_state);
fp@1147:             info.state = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147:         } else {
fp@1147:             str << "-";
fp@1147:             info.slavePos = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147: 
fp@1147:             str << "-";
fp@1147:             info.state = str.str();
fp@1147:             str.clear();
fp@1147:             str.str("");
fp@1147:         }
fp@1142: 
fp@1142:         list.push_back(info);
fp@1142: 
fp@1142:         if (info.alias.length() > maxAliasWidth)
fp@1142:             maxAliasWidth = info.alias.length();
fp@1142:         if (info.pos.length() > maxPosWidth)
fp@1142:             maxPosWidth = info.pos.length();
fp@1147:         if (info.slavePos.length() > maxSlavePosWidth)
fp@1147:             maxSlavePosWidth = info.slavePos.length();
fp@1147:         if (info.state.length() > maxStateWidth)
fp@1147:             maxStateWidth = info.state.length();
fp@1142:     }
fp@1142: 
fp@1142:     for (iter = list.begin(); iter != list.end(); iter++) {
fp@1142:         cout << setfill(' ') << right
fp@1142:             << setw(maxAliasWidth) << iter->alias
fp@1142:             << ":" << left
fp@1142:             << setw(maxPosWidth) << iter->pos
fp@1142:             << "  "
fp@1142:             << iter->ident
fp@1142:             << "  "
fp@1147:             << setw(maxSlavePosWidth) << iter->slavePos << "  "
fp@1147:             << setw(maxStateWidth) << iter->state << "  "
fp@1142:             << endl;
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/