# HG changeset patch # User Florian Pose # Date 1285162903 -7200 # Node ID c6e6ec6ba5d85338e5e3c3585601dcf38f24ed1e # Parent 9327c261056fd8b52ee8ed405c958acdd9138532# Parent 7dceb43bd855f88f1cdea34ac0a93d125455f58f merge. diff -r 7dceb43bd855 -r c6e6ec6ba5d8 TODO --- a/TODO Wed Sep 22 12:28:36 2010 +0200 +++ b/TODO Wed Sep 22 15:41:43 2010 +0200 @@ -13,9 +13,6 @@ * Ethernet drivers: - Fix link detection in generic driver. - Add native drivers from 2.6.24 up to 2.6.31. -* Finish library implementation. - - Remove stdio uses? -* Rescan command. * ethercat tool: - Output error after usage. - Implement ranges for slaves and domains. @@ -79,7 +76,7 @@ - Implement reading from stream for soe_write. * Simplify master fsm by introducing a common request state to handle external requests (replace write_sii, sdo_request, etc). -* Write PDO mapping/assignment by default? +* Remove stdio uses in userspace library? Smaller issues: diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/common.c --- a/lib/common.c Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/common.c Wed Sep 22 15:41:43 2010 +0200 @@ -55,9 +55,9 @@ ec_master_t *master = ecrt_open_master(master_index); if (master) { if (ecrt_master_reserve(master) < 0) { - close(master->fd); + ec_master_clear(master); free(master); - master = 0; + master = NULL; } } @@ -82,19 +82,21 @@ master->process_data = NULL; master->process_data_size = 0; + master->first_domain = NULL; + master->first_config = NULL; snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index); master->fd = open(path, O_RDWR); if (master->fd == -1) { fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno)); - goto out_free; + goto out_clear; } if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) { fprintf(stderr, "Failed to get module information from %s: %s\n", path, strerror(errno)); - goto out_close; + goto out_clear; } if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) { @@ -102,14 +104,13 @@ " %s: %u, libethercat: %u.\n", path, module_data.ioctl_version_magic, EC_IOCTL_VERSION_MAGIC); - goto out_close; + goto out_clear; } return master; -out_close: - close(master->fd); -out_free: +out_clear: + ec_master_clear(master); free(master); return 0; } @@ -118,11 +119,7 @@ void ecrt_release_master(ec_master_t *master) { - if (master->process_data) { - munmap(master->process_data, master->process_data_size); - } - - close(master->fd); + ec_master_clear(master); free(master); } diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/domain.c --- a/lib/domain.c Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/domain.c Wed Sep 22 15:41:43 2010 +0200 @@ -47,6 +47,13 @@ /*****************************************************************************/ +void ec_domain_clear(ec_domain_t *domain) +{ + // nothing to do +} + +/*****************************************************************************/ + int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain, const ec_pdo_entry_reg_t *regs) { diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/domain.h --- a/lib/domain.h Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/domain.h Wed Sep 22 15:41:43 2010 +0200 @@ -33,9 +33,14 @@ /*****************************************************************************/ struct ec_domain { + ec_domain_t *next; unsigned int index; ec_master_t *master; uint8_t *process_data; }; /*****************************************************************************/ + +void ec_domain_clear(ec_domain_t *); + +/*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/master.c --- a/lib/master.c Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/master.c Wed Sep 22 15:41:43 2010 +0200 @@ -53,6 +53,60 @@ /*****************************************************************************/ +void ec_master_clear_config(ec_master_t *master) +{ + ec_domain_t *d, *next_d; + ec_slave_config_t *c, *next_c; + + d = master->first_domain; + while (d) { + next_d = d->next; + ec_domain_clear(d); + d = next_d; + } + master->first_domain = NULL; + + c = master->first_config; + while (c) { + next_c = c->next; + ec_slave_config_clear(c); + c = next_c; + } + master->first_config = NULL; +} + +/*****************************************************************************/ + +void ec_master_clear(ec_master_t *master) +{ + if (master->process_data) { + munmap(master->process_data, master->process_data_size); + } + + ec_master_clear_config(master); + + if (master->fd != -1) { + close(master->fd); + } +} + +/*****************************************************************************/ + +void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain) +{ + if (master->first_domain) { + ec_domain_t *d = master->first_domain; + while (d->next) { + d = d->next; + } + d->next = domain; + } else { + master->first_domain = domain; + } +} + +/*****************************************************************************/ + ec_domain_t *ecrt_master_create_domain(ec_master_t *master) { ec_domain_t *domain; @@ -71,14 +125,33 @@ return 0; } + domain->next = NULL; domain->index = (unsigned int) index; domain->master = master; domain->process_data = NULL; + + ec_master_add_domain(master, domain); + return domain; } /*****************************************************************************/ +void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc) +{ + if (master->first_config) { + ec_slave_config_t *c = master->first_config; + while (c->next) { + c = c->next; + } + c->next = sc; + } else { + master->first_config = sc; + } +} + +/*****************************************************************************/ + ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code) @@ -105,10 +178,16 @@ return 0; } + sc->next = NULL; sc->master = master; sc->index = data.config_index; sc->alias = alias; sc->position = position; + sc->first_sdo_request = NULL; + sc->first_voe_handler = NULL; + + ec_master_add_slave_config(master, sc); + return sc; } @@ -389,8 +468,9 @@ fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno)); return; } -} - + + ec_master_clear_config(master); +} /*****************************************************************************/ @@ -405,7 +485,6 @@ return 0; } - /*****************************************************************************/ void ecrt_master_send(ec_master_t *master) diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/master.h --- a/lib/master.h Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/master.h Wed Sep 22 15:41:43 2010 +0200 @@ -36,6 +36,13 @@ int fd; uint8_t *process_data; size_t process_data_size; + + ec_domain_t *first_domain; + ec_slave_config_t *first_config; }; /*****************************************************************************/ + +void ec_master_clear(ec_master_t *); + +/*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/sdo_request.c --- a/lib/sdo_request.c Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/sdo_request.c Wed Sep 22 15:41:43 2010 +0200 @@ -43,8 +43,17 @@ #include "slave_config.h" #include "master.h" +/*****************************************************************************/ + +void ec_sdo_request_clear(ec_sdo_request_t *req) +{ + if (req->data) { + free(req->data); + } +} + /***************************************************************************** - * Realtime interface. + * Application interface. ****************************************************************************/ void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout) diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/sdo_request.h --- a/lib/sdo_request.h Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/sdo_request.h Wed Sep 22 15:41:43 2010 +0200 @@ -33,6 +33,7 @@ /*****************************************************************************/ struct ec_sdo_request { + ec_sdo_request_t *next; /**< List header. */ ec_slave_config_t *config; /**< Parent slave configuration. */ unsigned int index; /**< Request index (identifier). */ uint16_t sdo_index; /**< SDO index. */ @@ -43,3 +44,7 @@ }; /*****************************************************************************/ + +void ec_sdo_request_clear(ec_sdo_request_t *); + +/*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/slave_config.c --- a/lib/slave_config.c Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/slave_config.c Wed Sep 22 15:41:43 2010 +0200 @@ -43,6 +43,29 @@ /*****************************************************************************/ +void ec_slave_config_clear(ec_slave_config_t *sc) +{ + ec_sdo_request_t *r, *next_r; + ec_voe_handler_t *v, *next_v; + + r = sc->first_sdo_request; + while (r) { + next_r = r->next; + ec_sdo_request_clear(r); + r = next_r; + } + + + v = sc->first_voe_handler; + while (v) { + next_v = v->next; + ec_voe_handler_clear(v); + v = next_v; + } +} + +/*****************************************************************************/ + int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index, ec_direction_t dir, ec_watchdog_mode_t watchdog_mode) { @@ -361,6 +384,22 @@ /*****************************************************************************/ +void ec_slave_config_add_sdo_request(ec_slave_config_t *sc, + ec_sdo_request_t *req) +{ + if (sc->first_sdo_request) { + ec_sdo_request_t *r = sc->first_sdo_request; + while (r->next) { + r = r->next; + } + r->next = req; + } else { + sc->first_sdo_request = req; + } +} + +/*****************************************************************************/ + ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc, uint16_t index, uint8_t subindex, size_t size) { @@ -393,23 +432,42 @@ if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) { fprintf(stderr, "Failed to create SDO request: %s\n", strerror(errno)); - if (req->data) - free(req->data); + ec_sdo_request_clear(req); free(req); return NULL; } + req->next = NULL; req->config = sc; req->index = data.request_index; req->sdo_index = data.sdo_index; req->sdo_subindex = data.sdo_subindex; req->data_size = size; req->mem_size = size; + + ec_slave_config_add_sdo_request(sc, req); + return req; } /*****************************************************************************/ +void ec_slave_config_add_voe_handler(ec_slave_config_t *sc, + ec_voe_handler_t *voe) +{ + if (sc->first_voe_handler) { + ec_voe_handler_t *v = sc->first_voe_handler; + while (v->next) { + v = v->next; + } + v->next = voe; + } else { + sc->first_voe_handler = voe; + } +} + +/*****************************************************************************/ + ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc, size_t size) { @@ -441,16 +499,19 @@ if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) { fprintf(stderr, "Failed to create VoE handler: %s\n", strerror(errno)); - if (voe->data) - free(voe->data); + ec_voe_handler_clear(voe); free(voe); return NULL; } + voe->next = NULL; voe->config = sc; voe->index = data.voe_index; voe->data_size = size; voe->mem_size = size; + + ec_slave_config_add_voe_handler(sc, voe); + return voe; } diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/slave_config.h --- a/lib/slave_config.h Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/slave_config.h Wed Sep 22 15:41:43 2010 +0200 @@ -33,10 +33,17 @@ /*****************************************************************************/ struct ec_slave_config { + ec_slave_config_t *next; ec_master_t *master; unsigned int index; uint16_t alias; uint16_t position; + ec_sdo_request_t *first_sdo_request; + ec_voe_handler_t *first_voe_handler; }; /*****************************************************************************/ + +void ec_slave_config_clear(ec_slave_config_t *); + +/*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/voe_handler.c --- a/lib/voe_handler.c Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/voe_handler.c Wed Sep 22 15:41:43 2010 +0200 @@ -47,6 +47,14 @@ /*****************************************************************************/ +void ec_voe_handler_clear(ec_voe_handler_t *voe) +{ + if (voe->data) + free(voe->data); +} + +/*****************************************************************************/ + void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id, uint16_t vendor_type) { diff -r 7dceb43bd855 -r c6e6ec6ba5d8 lib/voe_handler.h --- a/lib/voe_handler.h Wed Sep 22 12:28:36 2010 +0200 +++ b/lib/voe_handler.h Wed Sep 22 15:41:43 2010 +0200 @@ -33,6 +33,7 @@ /*****************************************************************************/ struct ec_voe_handler { + ec_voe_handler_t *next; ec_slave_config_t *config; unsigned int index; size_t data_size; @@ -41,3 +42,7 @@ }; /*****************************************************************************/ + +void ec_voe_handler_clear(ec_voe_handler_t *); + +/*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/cdev.c --- a/master/cdev.c Wed Sep 22 12:28:36 2010 +0200 +++ b/master/cdev.c Wed Sep 22 15:41:43 2010 +0200 @@ -659,6 +659,19 @@ /*****************************************************************************/ +/** Issue a bus scan. + */ +int ec_cdev_ioctl_master_rescan( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg /**< ioctl() argument. */ + ) +{ + master->fsm.rescan_required = 1; + return 0; +} + +/*****************************************************************************/ + /** Set slave state. */ int ec_cdev_ioctl_slave_state( @@ -3501,6 +3514,10 @@ if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; return ec_cdev_ioctl_master_debug(master, arg); + case EC_IOCTL_MASTER_RESCAN: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_master_rescan(master, arg); case EC_IOCTL_SLAVE_STATE: if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_master.c --- a/master/fsm_master.c Wed Sep 22 12:28:36 2010 +0200 +++ b/master/fsm_master.c Wed Sep 22 15:41:43 2010 +0200 @@ -85,7 +85,7 @@ fsm->idle = 0; fsm->link_state = 0; fsm->slaves_responding = 0; - fsm->topology_change_pending = 0; + fsm->rescan_required = 0; fsm->slave_states = EC_SLAVE_STATE_UNKNOWN; // init sub-state-machines @@ -201,7 +201,7 @@ // bus topology change? if (datagram->working_counter != fsm->slaves_responding) { - fsm->topology_change_pending = 1; + fsm->rescan_required = 1; fsm->slaves_responding = datagram->working_counter; EC_MASTER_INFO(master, "%u slave(s) responding.\n", fsm->slaves_responding); @@ -237,7 +237,7 @@ fsm->slave_states = 0x00; } - if (fsm->topology_change_pending) { + if (fsm->rescan_required) { down(&master->scan_sem); if (!master->allow_scan) { up(&master->scan_sem); @@ -245,9 +245,8 @@ master->scan_busy = 1; up(&master->scan_sem); - // topology change when scan is allowed: // clear all slaves and scan the bus - fsm->topology_change_pending = 0; + fsm->rescan_required = 0; fsm->idle = 0; fsm->scan_jiffies = jiffies; @@ -630,7 +629,7 @@ slave->error_flag = 1; EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n"); } - fsm->topology_change_pending = 1; + fsm->rescan_required = 1; ec_fsm_master_restart(fsm); return; } diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_master.h --- a/master/fsm_master.h Wed Sep 22 12:28:36 2010 +0200 +++ b/master/fsm_master.h Wed Sep 22 15:41:43 2010 +0200 @@ -119,7 +119,7 @@ unsigned long scan_jiffies; /**< beginning of slave scanning */ uint8_t link_state; /**< Last main device link state. */ unsigned int slaves_responding; /**< number of responding slaves */ - unsigned int topology_change_pending; /**< bus topology changed */ + unsigned int rescan_required; /**< A bus rescan is required. */ ec_slave_state_t slave_states; /**< states of responding slaves */ ec_slave_t *slave; /**< current slave */ ec_sii_write_request_t *sii_request; /**< SII write request */ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_pdo.c --- a/master/fsm_pdo.c Wed Sep 22 12:28:36 2010 +0200 +++ b/master/fsm_pdo.c Wed Sep 22 15:41:43 2010 +0200 @@ -376,7 +376,7 @@ return; } - fsm->sync_index = 0xff; // next is zero + fsm->sync_index = 1; // next is 2 ec_fsm_pdo_conf_action_next_sync(fsm); } @@ -429,7 +429,8 @@ } // get first configured PDO - if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) { + if (!(fsm->pdo = + ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) { // no pdos configured ec_fsm_pdo_conf_action_check_assignment(fsm); return; @@ -506,17 +507,30 @@ ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { - if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) { - EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X" - " is already configured correctly.\n", fsm->pdo->index); - ec_fsm_pdo_conf_action_next_pdo_mapping(fsm); - return; - } - - ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave, - fsm->pdo, &fsm->slave_pdo); - fsm->state = ec_fsm_pdo_conf_state_mapping; - fsm->state(fsm); // execure immediately + // check, if slave supports PDO configuration + if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) + && fsm->slave->sii.has_general + && fsm->slave->sii.coe_details.enable_pdo_configuration) { + + // always write PDO mapping + ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave, + fsm->pdo, &fsm->slave_pdo); + fsm->state = ec_fsm_pdo_conf_state_mapping; + fsm->state(fsm); // execure immediately + return; + } + else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) { + EC_SLAVE_WARN(fsm->slave, "Slave does not support" + " changing the PDO mapping!\n"); + EC_SLAVE_WARN(fsm->slave, ""); + printk("Currently mapped PDO entries: "); + ec_pdo_print_entries(&fsm->slave_pdo); + printk(". Entries to map: "); + ec_pdo_print_entries(fsm->pdo); + printk("\n"); + } + + ec_fsm_pdo_conf_action_next_pdo_mapping(fsm); } /*****************************************************************************/ @@ -564,46 +578,42 @@ ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { - // check if assignment has to be re-configured - if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) { - EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u" - " is already configured correctly.\n", fsm->sync_index); - ec_fsm_pdo_conf_action_next_sync(fsm); - return; - } - - if (fsm->slave->master->debug_level) { - EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n", - fsm->sync_index); - EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm); - } - - // PDO assignment has to be changed. Does the slave support this? - if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) - || (fsm->slave->sii.has_general - && !fsm->slave->sii.coe_details.enable_pdo_assign)) { + if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) + && fsm->slave->sii.has_general + && fsm->slave->sii.coe_details.enable_pdo_assign) { + + // always write PDO assignment + if (fsm->slave->master->debug_level) { + EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n", + fsm->sync_index); + EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm); + } + + if (ec_sdo_request_alloc(&fsm->request, 2)) { + fsm->state = ec_fsm_pdo_state_error; + return; + } + + // set mapped PDO count to zero + EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped + fsm->request.data_size = 1; + ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0); + ecrt_sdo_request_write(&fsm->request); + + EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned" + " PDOs to zero.\n"); + + fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count; + ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); + ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately + return; + } + else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) { EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n"); EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm); - ec_fsm_pdo_conf_action_next_sync(fsm); - return; - } - - if (ec_sdo_request_alloc(&fsm->request, 2)) { - fsm->state = ec_fsm_pdo_state_error; - return; - } - - // set mapped PDO count to zero - EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped - fsm->request.data_size = 1; - ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0); - ecrt_sdo_request_write(&fsm->request); - - EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n"); - - fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count; - ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); - ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately + } + + ec_fsm_pdo_conf_action_next_sync(fsm); } /*****************************************************************************/ @@ -621,7 +631,7 @@ EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n", fsm->sync_index); EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm); - fsm->state = ec_fsm_pdo_state_error; + ec_fsm_pdo_conf_action_next_sync(fsm); return; } @@ -632,7 +642,6 @@ // find first PDO if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) { - EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n"); // check for mapping to be altered ec_fsm_pdo_conf_action_next_sync(fsm); diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/fsm_pdo_entry.c --- a/master/fsm_pdo_entry.c Wed Sep 22 12:28:36 2010 +0200 +++ b/master/fsm_pdo_entry.c Wed Sep 22 15:41:43 2010 +0200 @@ -328,17 +328,6 @@ ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ ) { - // PDO mapping has to be changed. Does the slave support this? - if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) - || (fsm->slave->sii.has_general - && !fsm->slave->sii.coe_details.enable_pdo_configuration)) { - EC_SLAVE_WARN(fsm->slave, "Slave does not support" - " changing the PDO mapping!\n"); - EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm); - fsm->state = ec_fsm_pdo_entry_state_error; - return; - } - if (ec_sdo_request_alloc(&fsm->request, 4)) { fsm->state = ec_fsm_pdo_entry_state_error; return; diff -r 7dceb43bd855 -r c6e6ec6ba5d8 master/ioctl.h --- a/master/ioctl.h Wed Sep 22 12:28:36 2010 +0200 +++ b/master/ioctl.h Wed Sep 22 15:41:43 2010 +0200 @@ -56,7 +56,7 @@ * * Increment this when changing the ioctl interface! */ -#define EC_IOCTL_VERSION_MAGIC 7 +#define EC_IOCTL_VERSION_MAGIC 8 // Command-line tool #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) @@ -69,71 +69,72 @@ #define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t) #define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t) #define EC_IOCTL_MASTER_DEBUG EC_IO(0x09) -#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t) -#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0b, ec_ioctl_slave_sdo_t) -#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t) -#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t) -#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t) -#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0f, ec_ioctl_slave_sii_t) -#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x10, ec_ioctl_slave_sii_t) -#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x11, ec_ioctl_slave_reg_t) -#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x12, ec_ioctl_slave_reg_t) -#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x13, ec_ioctl_slave_foe_t) -#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x14, ec_ioctl_slave_foe_t) -#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x15, ec_ioctl_slave_soe_read_t) -#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x16, ec_ioctl_slave_soe_write_t) -#define EC_IOCTL_CONFIG EC_IOWR(0x17, ec_ioctl_config_t) -#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x18, ec_ioctl_config_pdo_t) -#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x19, ec_ioctl_config_pdo_entry_t) -#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1a, ec_ioctl_config_sdo_t) +#define EC_IOCTL_MASTER_RESCAN EC_IO(0x0a) +#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0b, ec_ioctl_slave_state_t) +#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0c, ec_ioctl_slave_sdo_t) +#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t) +#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t) +#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t) +#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x10, ec_ioctl_slave_sii_t) +#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x11, ec_ioctl_slave_sii_t) +#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x12, ec_ioctl_slave_reg_t) +#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x13, ec_ioctl_slave_reg_t) +#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x14, ec_ioctl_slave_foe_t) +#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t) +#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t) +#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t) +#define EC_IOCTL_CONFIG EC_IOWR(0x18, ec_ioctl_config_t) +#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t) +#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t) +#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t) #ifdef EC_EOE -#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1b, ec_ioctl_eoe_handler_t) +#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1c, ec_ioctl_eoe_handler_t) #endif // Application interface -#define EC_IOCTL_REQUEST EC_IO(0x1c) -#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1d) -#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1e, ec_ioctl_config_t) -#define EC_IOCTL_ACTIVATE EC_IOR(0x1f, size_t) -#define EC_IOCTL_DEACTIVATE EC_IO(0x20) -#define EC_IOCTL_SEND EC_IO(0x21) -#define EC_IOCTL_RECEIVE EC_IO(0x22) -#define EC_IOCTL_MASTER_STATE EC_IOR(0x23, ec_master_state_t) -#define EC_IOCTL_APP_TIME EC_IOW(0x24, ec_ioctl_app_time_t) -#define EC_IOCTL_SYNC_REF EC_IO(0x25) -#define EC_IOCTL_SYNC_SLAVES EC_IO(0x26) -#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x27) -#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x28, uint32_t) -#define EC_IOCTL_SC_SYNC EC_IOW(0x29, ec_ioctl_config_t) -#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2a, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2b, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2c, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2d, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2e, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2f, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_DC EC_IOW(0x20, ec_ioctl_config_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x31, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x32, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x33, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x34, ec_ioctl_sc_state_t) -#define EC_IOCTL_SC_IDN EC_IOW(0x35, ec_ioctl_sc_idn_t) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x36) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x37) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x38) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x39, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3a, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3b, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3c, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3d, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3e, ec_ioctl_sdo_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3f, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x40, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x41, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x42, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x43, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x44, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x45, ec_ioctl_voe_t) -#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x46, size_t) +#define EC_IOCTL_REQUEST EC_IO(0x1d) +#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1e) +#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1f, ec_ioctl_config_t) +#define EC_IOCTL_ACTIVATE EC_IOR(0x20, size_t) +#define EC_IOCTL_DEACTIVATE EC_IO(0x21) +#define EC_IOCTL_SEND EC_IO(0x22) +#define EC_IOCTL_RECEIVE EC_IO(0x23) +#define EC_IOCTL_MASTER_STATE EC_IOR(0x24, ec_master_state_t) +#define EC_IOCTL_APP_TIME EC_IOW(0x25, ec_ioctl_app_time_t) +#define EC_IOCTL_SYNC_REF EC_IO(0x26) +#define EC_IOCTL_SYNC_SLAVES EC_IO(0x27) +#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x28) +#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x29, uint32_t) +#define EC_IOCTL_SC_SYNC EC_IOW(0x2a, ec_ioctl_config_t) +#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2b, ec_ioctl_config_t) +#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2c, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2d, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t) +#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2f, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t) +#define EC_IOCTL_SC_DC EC_IOW(0x31, ec_ioctl_config_t) +#define EC_IOCTL_SC_SDO EC_IOW(0x32, ec_ioctl_sc_sdo_t) +#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x33, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SC_VOE EC_IOWR(0x34, ec_ioctl_voe_t) +#define EC_IOCTL_SC_STATE EC_IOWR(0x35, ec_ioctl_sc_state_t) +#define EC_IOCTL_SC_IDN EC_IOW(0x36, ec_ioctl_sc_idn_t) +#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x37) +#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x38) +#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x39) +#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3a, ec_ioctl_domain_state_t) +#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3b, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3c, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3d, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3e, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3f, ec_ioctl_sdo_request_t) +#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x40, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x41, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ EC_IOW(0x42, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x43, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_WRITE EC_IOWR(0x44, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_EXEC EC_IOWR(0x45, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_DATA EC_IOWR(0x46, ec_ioctl_voe_t) +#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x47, size_t) /*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandMaster.cpp --- a/tool/CommandMaster.cpp Wed Sep 22 12:28:36 2010 +0200 +++ b/tool/CommandMaster.cpp Wed Sep 22 15:41:43 2010 +0200 @@ -149,8 +149,8 @@ << " Tx frame rate [1/s]: " << setfill(' ') << setprecision(0) << fixed; for (j = 0; j < EC_RATE_COUNT; j++) { - cout << - setw(5) << data.devices[i].tx_frame_rates[j] / 1000.0; + cout << setw(ColWidth) + << data.devices[i].tx_frame_rates[j] / 1000.0; if (j < EC_RATE_COUNT - 1) { cout << " "; } @@ -159,7 +159,7 @@ << " Tx rate [KByte/s]: " << setprecision(1) << fixed; for (j = 0; j < EC_RATE_COUNT; j++) { - cout << setw(5) + cout << setw(ColWidth) << data.devices[i].tx_byte_rates[j] / 1024.0; if (j < EC_RATE_COUNT - 1) { cout << " "; @@ -169,7 +169,8 @@ << " Loss rate [1/s]: " << setprecision(0) << fixed; for (j = 0; j < EC_RATE_COUNT; j++) { - cout << setw(5) << data.devices[i].loss_rates[j] / 1000.0; + cout << setw(ColWidth) + << data.devices[i].loss_rates[j] / 1000.0; if (j < EC_RATE_COUNT - 1) { cout << " "; } @@ -183,7 +184,7 @@ perc = 100.0 * data.devices[i].loss_rates[j] / data.devices[i].tx_frame_rates[j]; } - cout << setw(5) << perc; + cout << setw(ColWidth) << perc; if (j < EC_RATE_COUNT - 1) { cout << " "; } diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandMaster.h --- a/tool/CommandMaster.h Wed Sep 22 12:28:36 2010 +0200 +++ b/tool/CommandMaster.h Wed Sep 22 15:41:43 2010 +0200 @@ -42,6 +42,9 @@ string helpString() const; void execute(const StringVector &); + + private: + enum {ColWidth = 6}; }; /****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandRescan.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/CommandRescan.cpp Wed Sep 22 15:41:43 2010 +0200 @@ -0,0 +1,85 @@ +/***************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License version 2, as + * published by the Free Software Foundation. + * + * The IgH EtherCAT Master is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * --- + * + * The license mentioned above concerns the source code only. Using the + * EtherCAT technology and brand is only permitted in compliance with the + * industrial property and similar rights of Beckhoff Automation GmbH. + * + * vim: expandtab + * + ****************************************************************************/ + +#include +#include +using namespace std; + +#include "CommandRescan.h" +#include "MasterDevice.h" + +/*****************************************************************************/ + +CommandRescan::CommandRescan(): + Command("rescan", "Rescan the bus.") +{ +} + +/*****************************************************************************/ + +string CommandRescan::helpString() const +{ + stringstream str; + + str << getName() << endl + << endl + << getBriefDescription() << endl + << endl + << "Command a bus rescan. Gathered slave information will be" << endl + << "forgotten and slaves will be read in again." << endl + << endl; + + return str.str(); +} + +/****************************************************************************/ + +void CommandRescan::execute(const StringVector &args) +{ + MasterIndexList masterIndices; + + if (args.size() != 0) { + stringstream err; + err << "'" << getName() << "' takes no arguments!"; + throwInvalidUsageException(err); + } + + masterIndices = getMasterIndices(); + MasterIndexList::const_iterator mi; + for (mi = masterIndices.begin(); + mi != masterIndices.end(); mi++) { + MasterDevice m(*mi); + m.open(MasterDevice::ReadWrite); + m.rescan(); + } +} + +/*****************************************************************************/ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/CommandRescan.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/CommandRescan.h Wed Sep 22 15:41:43 2010 +0200 @@ -0,0 +1,49 @@ +/***************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License version 2, as + * published by the Free Software Foundation. + * + * The IgH EtherCAT Master is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General + * Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * --- + * + * The license mentioned above concerns the source code only. Using the + * EtherCAT technology and brand is only permitted in compliance with the + * industrial property and similar rights of Beckhoff Automation GmbH. + * + ****************************************************************************/ + +#ifndef __COMMANDRESCAN_H__ +#define __COMMANDRESCAN_H__ + +#include "Command.h" + +/****************************************************************************/ + +class CommandRescan: + public Command +{ + public: + CommandRescan(); + + string helpString() const; + void execute(const StringVector &); +}; + +/****************************************************************************/ + +#endif diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/Makefile.am --- a/tool/Makefile.am Wed Sep 22 12:28:36 2010 +0200 +++ b/tool/Makefile.am Wed Sep 22 15:41:43 2010 +0200 @@ -52,6 +52,7 @@ CommandPdos.cpp \ CommandRegRead.cpp \ CommandRegWrite.cpp \ + CommandRescan.cpp \ CommandSdos.cpp \ CommandSiiRead.cpp \ CommandSiiWrite.cpp \ @@ -93,6 +94,7 @@ CommandPdos.h \ CommandRegRead.h \ CommandRegWrite.h \ + CommandRescan.h \ CommandSdos.h \ CommandSiiRead.h \ CommandSiiWrite.h \ diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/MasterDevice.cpp --- a/tool/MasterDevice.cpp Wed Sep 22 12:28:36 2010 +0200 +++ b/tool/MasterDevice.cpp Wed Sep 22 15:41:43 2010 +0200 @@ -455,6 +455,17 @@ /****************************************************************************/ +void MasterDevice::rescan() +{ + if (ioctl(fd, EC_IOCTL_MASTER_RESCAN, 0) < 0) { + stringstream err; + err << "Failed to command rescan: " << strerror(errno); + throw MasterDeviceException(err); + } +} + +/****************************************************************************/ + void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data) { if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) { diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/MasterDevice.h --- a/tool/MasterDevice.h Wed Sep 22 12:28:36 2010 +0200 +++ b/tool/MasterDevice.h Wed Sep 22 15:41:43 2010 +0200 @@ -132,6 +132,7 @@ void readReg(ec_ioctl_slave_reg_t *); void writeReg(ec_ioctl_slave_reg_t *); void setDebug(unsigned int); + void rescan(); void sdoDownload(ec_ioctl_slave_sdo_download_t *); void sdoUpload(ec_ioctl_slave_sdo_upload_t *); void requestState(uint16_t, uint8_t); diff -r 7dceb43bd855 -r c6e6ec6ba5d8 tool/main.cpp --- a/tool/main.cpp Wed Sep 22 12:28:36 2010 +0200 +++ b/tool/main.cpp Wed Sep 22 15:41:43 2010 +0200 @@ -52,6 +52,7 @@ #include "CommandPdos.h" #include "CommandRegRead.h" #include "CommandRegWrite.h" +#include "CommandRescan.h" #include "CommandSdos.h" #include "CommandSiiRead.h" #include "CommandSiiWrite.h" @@ -307,6 +308,7 @@ commandList.push_back(new CommandPdos()); commandList.push_back(new CommandRegRead()); commandList.push_back(new CommandRegWrite()); + commandList.push_back(new CommandRescan()); commandList.push_back(new CommandSdos()); commandList.push_back(new CommandSiiRead()); commandList.push_back(new CommandSiiWrite());