fp@2669: /*****************************************************************************
fp@2669:  *
fp@2669:  *  Copyright (C) 2006-2017  Florian Pose, Ingenieurgemeinschaft IgH
fp@2669:  *
fp@2669:  *  This file is part of the IgH EtherCAT Master.
fp@2669:  *
fp@2669:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@2669:  *  modify it under the terms of the GNU General Public License version 2, as
fp@2669:  *  published by the Free Software Foundation.
fp@2669:  *
fp@2669:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@2669:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@2669:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@2669:  *  Public License for more details.
fp@2669:  *
fp@2669:  *  You should have received a copy of the GNU General Public License along
fp@2669:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@2669:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@2669:  *
fp@2669:  *  ---
fp@2669:  *
fp@2669:  *  The license mentioned above concerns the source code only. Using the
fp@2669:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@2669:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@2669:  *
fp@2669:  ****************************************************************************/
fp@2669: 
fp@2669: #include <iostream>
fp@2669: #include <iomanip>
fp@2670: #include <algorithm>
fp@2669: using namespace std;
fp@2669: 
fp@2669: #include "CommandCrc.h"
fp@2669: #include "MasterDevice.h"
fp@2669: 
fp@2669: /*****************************************************************************/
fp@2669: 
fp@2669: CommandCrc::CommandCrc():
fp@2669:     Command("crc", "CRC error register diagnosis.")
fp@2669: {
fp@2669: }
fp@2669: 
fp@2669: /*****************************************************************************/
fp@2669: 
fp@2669: string CommandCrc::helpString(const string &binaryBaseName) const
fp@2669: {
fp@2669:     stringstream str;
fp@2669: 
fp@2670:     str
fp@2670:         << binaryBaseName << " " << getName() << endl
fp@2670:         << binaryBaseName << " " << getName() << " reset" << endl
fp@2669:         << endl
fp@2669:         << getBriefDescription() << endl
fp@2669:         << endl
fp@2669:         << "CRC - CRC Error Counter                0x300, 0x302, 0x304, 0x306"
fp@2669:         << endl
fp@2669:         << "PHY - Physical Interface Error Counter 0x301, 0x303, 0x305, 0x307"
fp@2669:         << endl
fp@2669:         << "FWD - Forwarded RX Error Counter       0x308, 0x309, 0x30a, 0x30b"
fp@2669:         << endl
fp@2678:         << "NXT - Next slave" << endl
fp@2669:         << endl;
fp@2669: 
fp@2669:     return str.str();
fp@2669: }
fp@2669: 
fp@2669: /****************************************************************************/
fp@2669: 
fp@2670: #define REG_SIZE  (20)
fp@2669: 
fp@2669: void CommandCrc::execute(const StringVector &args)
fp@2669: {
fp@2670:     bool reset = false;
fp@2670: 
fp@2670:     if (args.size() > 1) {
fp@2670:         stringstream err;
fp@2670:         err << "'" << getName() << "' takes either no or 'reset' argument!";
fp@2670:         throwInvalidUsageException(err);
fp@2670:     }
fp@2670: 
fp@2670:     if (args.size() == 1) {
fp@2670:         string arg = args[0];
fp@2670:         transform(arg.begin(), arg.end(),
fp@2670:                 arg.begin(), (int (*) (int)) std::tolower);
fp@2670:         if (arg != "reset") {
fp@2670:             stringstream err;
fp@2670:             err << "'" << getName() << "' takes either no or 'reset' argument!";
fp@2670:             throwInvalidUsageException(err);
fp@2670:         }
fp@2670: 
fp@2670:         reset = true;
fp@2670:     }
fp@2669: 
fp@2669:     MasterDevice m(getSingleMasterIndex());
fp@2670:     m.open(reset ? MasterDevice::ReadWrite : MasterDevice::Read);
fp@2669: 
fp@2669:     ec_ioctl_master_t master;
fp@2669:     m.getMaster(&master);
fp@2669: 
fp@2670:     uint8_t data[REG_SIZE];
fp@2670:     ec_ioctl_slave_reg_t io;
fp@2670:     io.emergency = 0;
fp@2670:     io.address = 0x0300;
fp@2670:     io.size = REG_SIZE;
fp@2670:     io.data = data;
fp@2670: 
fp@2670:     if (reset) {
fp@2670:         for (int j = 0; j < REG_SIZE; j++) {
fp@2670:             data[j] = 0x00;
fp@2670:         }
fp@2670: 
fp@2670:         for (unsigned int i = 0; i < master.slave_count; i++) {
fp@2670: 
fp@2670:             io.slave_position = i;
fp@2670:             try {
fp@2670:                 m.writeReg(&io);
fp@2670:             } catch (MasterDeviceException &e) {
fp@2670:                 throw e;
fp@2670:             }
fp@2670:         }
fp@2670:         return;
fp@2670:     }
fp@2669: 
fp@2669:     cout << "   |";
fp@2676:     for (unsigned int port = 0; port < EC_MAX_PORTS; port++) {
fp@2669:         cout << "Port " << port << "         |";
fp@2669:     }
fp@2669:     cout << endl;
fp@2669: 
fp@2669:     cout << "   |";
fp@2676:     for (unsigned int port = 0; port < EC_MAX_PORTS; port++) {
fp@2678:         cout << "CRC PHY FWD NXT|";
fp@2669:     }
fp@2669:     cout << endl;
fp@2669: 
fp@2669:     for (unsigned int i = 0; i < master.slave_count; i++) {
fp@2669: 
fp@2678:         ec_ioctl_slave_t slave;
fp@2678:         m.getSlave(&slave, i);
fp@2678: 
fp@2669:         io.slave_position = i;
fp@2669:         try {
fp@2669:             m.readReg(&io);
fp@2669:         } catch (MasterDeviceException &e) {
fp@2669:             throw e;
fp@2669:         }
fp@2669: 
fp@2669:         cout << setw(3) << i << "|";
fp@2669:         for (int port = 0; port < 4; port++) {
fp@2678:             if (slave.ports[port].link.loop_closed) {
fp@2678:                 cout << "               |";
fp@2678:                 continue;
fp@2678:             }
fp@2678: 
fp@2669:             cout << setw(3) << (unsigned int) io.data[ 0 + port * 2]; // CRC
fp@2669:             cout << setw(4) << (unsigned int) io.data[ 1 + port * 2]; // PHY
fp@2669:             cout << setw(4) << (unsigned int) io.data[ 8 + port]; // FWD
fp@2678:             if (slave.ports[port].next_slave == i - 1) {
fp@2678:                 cout << "   ↑";
fp@2678:             }
fp@2678:             else if (slave.ports[port].next_slave == i + 1) {
fp@2678:                 cout << "   ↓";
fp@2678:             }
fp@2678:             else if (slave.ports[port].next_slave != 0xffff) {
fp@2678:                 cout << setw(4) << slave.ports[port].next_slave;
fp@2678:             }
fp@2678:             else {
fp@2678:                 cout << "    ";
fp@2678:             }
fp@2678: 
fp@2669:             cout << "|";
fp@2669:         }
fp@2669: 
fp@2669:         std::string slaveName(slave.name);
fp@2669:         slaveName = slaveName.substr(0, 11);
fp@2669:         cout << slaveName << endl;
fp@2669:     }
fp@2669: }
fp@2669: 
fp@2669: /*****************************************************************************/