--- a/TODO Fri Jul 25 14:14:47 2008 +0000
+++ b/TODO Fri Jul 25 14:19:29 2008 +0000
@@ -14,8 +14,9 @@
* Get original driver for r8169.
* Race in jiffies frame timeout?
* ethercat tool:
- - Replace --slave by --position.
- - Add --alias option.
+ - Single message for unambiguous slave in SiiRead/Write and Up/Download.
+ - Implement Alias/Position selection for configs.
+ - Update help for --alias and --position.
- Show Pdos in 'ethercat slave -v'.
- Accept files from stdin.
- Display attached device's MAC address instead of ff's.
--- a/tool/Command.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/Command.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -28,6 +28,20 @@
verbosity = v;
};
+/*****************************************************************************/
+
+void Command::setAlias(int a)
+{
+ alias = a;
+};
+
+/*****************************************************************************/
+
+void Command::setPosition(int p)
+{
+ position = p;
+};
+
/****************************************************************************/
bool Command::matchesSubstr(const string &cmd) const
@@ -78,6 +92,61 @@
throw CommandException(s);
}
+/*****************************************************************************/
+
+Command::SlaveList Command::selectedSlaves(MasterDevice &m)
+{
+ unsigned int numSlaves = m.slaveCount(), i, aliasIndex;
+ uint16_t lastAlias;
+ ec_ioctl_slave_t slave;
+ SlaveList list;
+
+ if (alias == -1) { // no alias given
+ if (position == -1) { // no alias and position given
+ // all items
+ for (i = 0; i < numSlaves; i++) {
+ m.getSlave(&slave, i);
+ list.push_back(slave);
+ }
+ } else { // no alias, but position given
+ // one item by position
+ m.getSlave(&slave, position);
+ list.push_back(slave);
+ }
+ } else { // alias given
+ if (position == -1) { // alias, but no position given
+ // take all items with a given alias
+ lastAlias = 0;
+ for (i = 0; i < numSlaves; i++) {
+ m.getSlave(&slave, i);
+ if (slave.alias) {
+ lastAlias = slave.alias;
+ }
+ if (lastAlias == (uint16_t) alias) {
+ list.push_back(slave);
+ }
+ }
+ } else { // alias and position given
+ lastAlias = 0;
+ aliasIndex = 0;
+ for (i = 0; i < numSlaves; i++) {
+ m.getSlave(&slave, i);
+ if (slave.alias) { // FIXME 'lock' first alias
+ lastAlias = slave.alias;
+ aliasIndex = 0;
+ }
+ if (lastAlias == (uint16_t) alias
+ && aliasIndex == (unsigned int) position) {
+ list.push_back(slave);
+ }
+ aliasIndex++;
+ }
+ }
+ }
+
+ return list;
+}
+
/****************************************************************************/
string Command::alStateString(uint8_t state)
--- a/tool/Command.h Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/Command.h Fri Jul 25 14:19:29 2008 +0000
@@ -9,6 +9,7 @@
#include <stdexcept>
#include <vector>
+#include <list>
using namespace std;
#include "MasterDevice.h"
@@ -16,7 +17,6 @@
/*****************************************************************************/
extern unsigned int masterIndex;
-extern int slavePosition;
extern int domainIndex;
extern string dataTypeStr;
extern bool force;
@@ -57,16 +57,20 @@
Command(const string &, const string &);
virtual ~Command();
+ const string &getName() const;
+ const string &getBriefDescription() const;
+
enum Verbosity {
Quiet,
Normal,
Verbose
};
void setVerbosity(Verbosity);
-
- const string &getName() const;
- const string &getBriefDescription() const;
Verbosity getVerbosity() const;
+ void setAlias(int);
+ int getAlias() const;
+ void setPosition(int);
+ int getPosition() const;
bool matchesSubstr(const string &) const;
bool matchesAbbrev(const string &) const;
@@ -79,17 +83,22 @@
static string numericInfo();
protected:
+ enum {BreakAfterBytes = 16};
+
void throwInvalidUsageException(const stringstream &);
void throwCommandException(const stringstream &);
- enum {BreakAfterBytes = 16};
-
+ typedef list<ec_ioctl_slave_t> SlaveList;
+ SlaveList selectedSlaves(MasterDevice &);
+
static string alStateString(uint8_t);
private:
string name;
string briefDesc;
Verbosity verbosity;
+ int alias;
+ int position;
Command();
};
@@ -117,4 +126,18 @@
/****************************************************************************/
+inline int Command::getAlias() const
+{
+ return alias;
+}
+
+/****************************************************************************/
+
+inline int Command::getPosition() const
+{
+ return position;
+}
+
+/****************************************************************************/
+
#endif
--- a/tool/CommandAlias.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandAlias.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -57,7 +57,8 @@
uint16_t alias;
stringstream err, strAlias;
int number;
- unsigned int numSlaves, i;
+ SlaveList slaves;
+ SlaveList::const_iterator si;
if (args.size() != 1) {
err << "'" << getName() << "' takes exactly one argument!";
@@ -74,22 +75,18 @@
}
alias = number;
- if (slavePosition == -1) {
- if (!force) {
- err << "This will write the alias addresses of all slaves to "
- << alias << "! Please specify --force to proceed.";
- throwCommandException(err);
- }
+ m.open(MasterDevice::ReadWrite);
+ slaves = selectedSlaves(m);
+
+ if (slaves.size() > 1 && !force) {
+ err << "This will write the alias addresses of "
+ << slaves.size() << " slaves to " << alias
+ << "! Please specify --force to proceed.";
+ throwCommandException(err);
+ }
- m.open(MasterDevice::ReadWrite);
- numSlaves = m.slaveCount();
-
- for (i = 0; i < numSlaves; i++) {
- writeSlaveAlias(m, i, alias);
- }
- } else {
- m.open(MasterDevice::ReadWrite);
- writeSlaveAlias(m, slavePosition, alias);
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ writeSlaveAlias(m, *si, alias);
}
}
@@ -99,17 +96,14 @@
*/
void CommandAlias::writeSlaveAlias(
MasterDevice &m,
- uint16_t slavePosition,
+ const ec_ioctl_slave_t &slave,
uint16_t alias
)
{
ec_ioctl_slave_sii_t data;
- ec_ioctl_slave_t slave;
stringstream err;
uint8_t crc;
- m.getSlave(&slave, slavePosition);
-
if (slave.sii_nwords < 8) {
err << "Current SII contents are too small to set an alias "
<< "(" << slave.sii_nwords << " words)!";
@@ -117,7 +111,7 @@
}
// read first 8 SII words
- data.slave_position = slavePosition;
+ data.slave_position = slave.position;
data.offset = 0;
data.nwords = 8;
data.words = new uint16_t[data.nwords];
--- a/tool/CommandAlias.h Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandAlias.h Fri Jul 25 14:19:29 2008 +0000
@@ -21,7 +21,8 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void writeSlaveAlias(MasterDevice &, uint16_t, uint16_t);
+ void writeSlaveAlias(MasterDevice &, const ec_ioctl_slave_t &,
+ uint16_t);
};
/****************************************************************************/
--- a/tool/CommandDownload.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandDownload.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -64,13 +64,7 @@
ec_ioctl_slave_sdo_download_t data;
unsigned int number;
const CoEDataType *dataType = NULL;
-
- if (slavePosition < 0) {
- err << "'" << getName() << "' requires a slave! "
- << "Please specify --slave.";
- throwInvalidUsageException(err);
- }
- data.slave_position = slavePosition;
+ SlaveList slaves;
if (args.size() != 3) {
err << "'" << getName() << "' takes 3 arguments!";
@@ -96,6 +90,14 @@
}
data.sdo_entry_subindex = number;
+ m.open(MasterDevice::ReadWrite);
+ slaves = selectedSlaves(m);
+ if (slaves.size() != 1) {
+ err << slaves.size() << " slaves selected, single slave required!";
+ throwInvalidUsageException(err);
+ }
+ data.slave_position = slaves.front().position;
+
if (dataTypeStr != "") { // data type specified
if (!(dataType = findDataType(dataTypeStr))) {
err << "Invalid data type '" << dataTypeStr << "'!";
@@ -104,10 +106,8 @@
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
- m.open(MasterDevice::ReadWrite);
-
try {
- m.getSdoEntry(&entry, slavePosition,
+ m.getSdoEntry(&entry, data.slave_position,
data.sdo_index, data.sdo_entry_subindex);
} catch (MasterDeviceException &e) {
err << "Failed to determine Sdo entry data type. "
@@ -203,10 +203,8 @@
throwInvalidUsageException(err);
}
- m.open(MasterDevice::ReadWrite);
-
try {
- m.sdoDownload(&data);
+ m.sdoDownload(&data);
} catch(MasterDeviceException &e) {
delete [] data.data;
throw e;
--- a/tool/CommandPdos.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandPdos.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -67,16 +67,16 @@
void CommandPdos::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
+ SlaveList::const_iterator si;
+ bool showHeader;
+
m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+ showHeader = slaves.size() > 1;
- if (slavePosition == -1) {
- unsigned int numSlaves = m.slaveCount(), i;
-
- for (i = 0; i < numSlaves; i++) {
- listSlavePdos(m, i, true);
- }
- } else {
- listSlavePdos(m, slavePosition, false);
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ listSlavePdos(m, *si, showHeader);
}
}
@@ -84,23 +84,20 @@
void CommandPdos::listSlavePdos(
MasterDevice &m,
- uint16_t slavePosition,
- bool withHeader
+ const ec_ioctl_slave_t &slave,
+ bool showHeader
)
{
- ec_ioctl_slave_t slave;
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
- m.getSlave(&slave, slavePosition);
-
- if (withHeader)
- cout << "=== Slave " << slavePosition << " ===" << endl;
+ if (showHeader)
+ cout << "=== Slave " << slave.position << " ===" << endl;
for (i = 0; i < slave.sync_count; i++) {
- m.getSync(&sync, slavePosition, i);
+ m.getSync(&sync, slave.position, i);
cout << "SM" << i << ":"
<< " PhysAddr 0x"
@@ -115,7 +112,7 @@
<< endl;
for (j = 0; j < sync.pdo_count; j++) {
- m.getPdo(&pdo, slavePosition, i, j);
+ m.getPdo(&pdo, slave.position, i, j);
cout << " " << (sync.control_register & 0x04 ? "R" : "T")
<< "xPdo 0x"
@@ -127,7 +124,7 @@
continue;
for (k = 0; k < pdo.entry_count; k++) {
- m.getPdoEntry(&entry, slavePosition, i, j, k);
+ m.getPdoEntry(&entry, slave.position, i, j, k);
cout << " Pdo entry 0x"
<< hex << setfill('0')
--- a/tool/CommandPdos.h Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandPdos.h Fri Jul 25 14:19:29 2008 +0000
@@ -21,7 +21,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void listSlavePdos(MasterDevice &, uint16_t, bool);
+ void listSlavePdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
};
/****************************************************************************/
--- a/tool/CommandSdos.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandSdos.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -58,16 +58,16 @@
void CommandSdos::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
+ SlaveList::const_iterator si;
+ bool showHeader;
+
m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+ showHeader = slaves.size() > 1;
- if (slavePosition == -1) {
- unsigned int numSlaves = m.slaveCount(), i;
-
- for (i = 0; i < numSlaves; i++) {
- listSlaveSdos(m, i, true);
- }
- } else {
- listSlaveSdos(m, slavePosition, false);
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ listSlaveSdos(m, *si, showHeader);
}
}
@@ -75,23 +75,20 @@
void CommandSdos::listSlaveSdos(
MasterDevice &m,
- uint16_t slavePosition,
- bool withHeader
+ const ec_ioctl_slave_t &slave,
+ bool showHeader
)
{
- ec_ioctl_slave_t slave;
ec_ioctl_slave_sdo_t sdo;
ec_ioctl_slave_sdo_entry_t entry;
unsigned int i, j;
const CoEDataType *d;
- m.getSlave(&slave, slavePosition);
-
- if (withHeader)
- cout << "=== Slave " << slavePosition << " ===" << endl;
+ if (showHeader)
+ cout << "=== Slave " << slave.position << " ===" << endl;
for (i = 0; i < slave.sdo_count; i++) {
- m.getSdo(&sdo, slavePosition, i);
+ m.getSdo(&sdo, slave.position, i);
cout << "Sdo 0x"
<< hex << setfill('0')
@@ -102,7 +99,7 @@
continue;
for (j = 0; j <= sdo.max_subindex; j++) {
- m.getSdoEntry(&entry, slavePosition, -i, j);
+ m.getSdoEntry(&entry, slave.position, -i, j);
cout << " 0x" << hex << setfill('0')
<< setw(4) << sdo.sdo_index << ":"
--- a/tool/CommandSdos.h Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandSdos.h Fri Jul 25 14:19:29 2008 +0000
@@ -21,7 +21,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void listSlaveSdos(MasterDevice &, uint16_t, bool);
+ void listSlaveSdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
};
/****************************************************************************/
--- a/tool/CommandSiiRead.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandSiiRead.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -50,29 +50,30 @@
void CommandSiiRead::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
+ ec_ioctl_slave_t *slave;
ec_ioctl_slave_sii_t data;
- ec_ioctl_slave_t slave;
unsigned int i;
const uint16_t *categoryHeader;
uint16_t categoryType, categorySize;
stringstream err;
- if (slavePosition < 0) {
- err << "'" << getName() << "' requires a slave! "
- << "Please specify --slave.";
+ m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+
+ if (slaves.size() != 1) {
+ err << "'" << getName() << "' requires a single slave ("
+ << slaves.size() << " selected).";
throwInvalidUsageException(err);
}
- data.slave_position = slavePosition;
+ slave = &slaves.front();
+ data.slave_position = slave->position;
- m.open(MasterDevice::Read);
-
- m.getSlave(&slave, slavePosition);
-
- if (!slave.sii_nwords)
+ if (!slave->sii_nwords)
return;
data.offset = 0;
- data.nwords = slave.sii_nwords;
+ data.nwords = slave->sii_nwords;
data.words = new uint16_t[data.nwords];
try {
--- a/tool/CommandSiiWrite.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandSiiWrite.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -51,6 +51,7 @@
void CommandSiiWrite::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
stringstream err;
ec_ioctl_slave_sii_t data;
ifstream file;
@@ -59,12 +60,14 @@
uint16_t categoryType, categorySize;
uint8_t crc;
- if (slavePosition < 0) {
- err << "'" << getName() << "' requires a slave! "
- << "Please specify --slave.";
+ slaves = selectedSlaves(m);
+
+ if (slaves.size() != 1) {
+ err << "'" << getName() << "' requires a single slave ("
+ << slaves.size() << " selected).";
throwInvalidUsageException(err);
}
- data.slave_position = slavePosition;
+ data.slave_position = slaves.front().position;
if (args.size() != 1) {
err << "'" << getName() << "' takes exactly one argument!";
--- a/tool/CommandSlaves.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandSlaves.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -65,20 +65,15 @@
void CommandSlaves::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
+
m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
if (getVerbosity() == Verbose) {
- if (slavePosition == -1) {
- unsigned int numSlaves = m.slaveCount(), i;
-
- for (i = 0; i < numSlaves; i++) {
- showSlave(m, i);
- }
- } else {
- showSlave(m, slavePosition);
- }
+ showSlaves(m, slaves);
} else {
- listSlaves(m, slavePosition);
+ listSlaves(m, slaves);
}
}
@@ -86,7 +81,7 @@
void CommandSlaves::listSlaves(
MasterDevice &m,
- int slavePosition
+ const SlaveList &slaves
)
{
unsigned int numSlaves, i;
@@ -112,7 +107,7 @@
aliasIndex = 0;
}
- if (slavePosition == -1 || i == (unsigned int) slavePosition) {
+ if (slaveInList(slave, slaves)) {
str << dec << i;
info.pos = str.str();
str.clear();
@@ -169,109 +164,127 @@
/****************************************************************************/
-void CommandSlaves::showSlave(
+void CommandSlaves::showSlaves(
MasterDevice &m,
- uint16_t slavePosition
+ const SlaveList &slaves
)
{
- ec_ioctl_slave_t slave;
+ SlaveList::const_iterator si;
list<string> protoList;
list<string>::const_iterator protoIter;
-
- m.getSlave(&slave, slavePosition);
-
- cout << "=== Slave " << dec << slavePosition << " ===" << endl;
-
- if (slave.alias)
- cout << "Alias: " << slave.alias << endl;
-
- cout
- << "State: " << alStateString(slave.al_state) << endl
- << "Flag: " << (slave.error_flag ? 'E' : '+') << endl
- << "Identity:" << endl
- << " Vendor Id: 0x"
- << hex << setfill('0')
- << setw(8) << slave.vendor_id << endl
- << " Product code: 0x"
- << setw(8) << slave.product_code << endl
- << " Revision number: 0x"
- << setw(8) << slave.revision_number << endl
- << " Serial number: 0x"
- << setw(8) << slave.serial_number << endl;
-
- if (slave.mailbox_protocols) {
- cout << "Mailboxes:" << endl
- << " RX: 0x"
- << hex << setw(4) << slave.rx_mailbox_offset << "/"
- << dec << slave.rx_mailbox_size
- << ", TX: 0x"
- << hex << setw(4) << slave.tx_mailbox_offset << "/"
- << dec << slave.tx_mailbox_size << endl
- << " Supported protocols: ";
-
- if (slave.mailbox_protocols & EC_MBOX_AOE) {
- protoList.push_back("AoE");
- }
- if (slave.mailbox_protocols & EC_MBOX_EOE) {
- protoList.push_back("EoE");
- }
- if (slave.mailbox_protocols & EC_MBOX_COE) {
- protoList.push_back("CoE");
- }
- if (slave.mailbox_protocols & EC_MBOX_FOE) {
- protoList.push_back("FoE");
- }
- if (slave.mailbox_protocols & EC_MBOX_SOE) {
- protoList.push_back("SoE");
- }
- if (slave.mailbox_protocols & EC_MBOX_VOE) {
- protoList.push_back("VoE");
- }
-
- for (protoIter = protoList.begin(); protoIter != protoList.end();
- protoIter++) {
- if (protoIter != protoList.begin())
- cout << ", ";
- cout << *protoIter;
- }
- cout << endl;
- }
-
- if (slave.has_general_category) {
- cout << "General:" << endl
- << " Group: " << slave.group << endl
- << " Image name: " << slave.image << endl
- << " Order number: " << slave.order << endl
- << " Device name: " << slave.name << endl;
-
- if (slave.mailbox_protocols & EC_MBOX_COE) {
- cout << " CoE details:" << endl
- << " Enable Sdo: "
- << (slave.coe_details.enable_sdo ? "yes" : "no") << endl
- << " Enable Sdo Info: "
- << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
- << " Enable Pdo Assign: "
- << (slave.coe_details.enable_pdo_assign
- ? "yes" : "no") << endl
- << " Enable Pdo Configuration: "
- << (slave.coe_details.enable_pdo_configuration
- ? "yes" : "no") << endl
- << " Enable Upload at startup: "
- << (slave.coe_details.enable_upload_at_startup
- ? "yes" : "no") << endl
- << " Enable Sdo complete access: "
- << (slave.coe_details.enable_sdo_complete_access
- ? "yes" : "no") << endl;
- }
-
- cout << " Flags:" << endl
- << " Enable SafeOp: "
- << (slave.general_flags.enable_safeop ? "yes" : "no") << endl
- << " Enable notLRW: "
- << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
- << " Current consumption: "
- << dec << slave.current_on_ebus << " mA" << endl;
- }
+
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ cout << "=== Slave " << dec << si->position << " ===" << endl;
+
+ if (si->alias)
+ cout << "Alias: " << si->alias << endl;
+
+ cout
+ << "State: " << alStateString(si->al_state) << endl
+ << "Flag: " << (si->error_flag ? 'E' : '+') << endl
+ << "Identity:" << endl
+ << " Vendor Id: 0x"
+ << hex << setfill('0')
+ << setw(8) << si->vendor_id << endl
+ << " Product code: 0x"
+ << setw(8) << si->product_code << endl
+ << " Revision number: 0x"
+ << setw(8) << si->revision_number << endl
+ << " Serial number: 0x"
+ << setw(8) << si->serial_number << endl;
+
+ if (si->mailbox_protocols) {
+ cout << "Mailboxes:" << endl
+ << " RX: 0x"
+ << hex << setw(4) << si->rx_mailbox_offset << "/"
+ << dec << si->rx_mailbox_size
+ << ", TX: 0x"
+ << hex << setw(4) << si->tx_mailbox_offset << "/"
+ << dec << si->tx_mailbox_size << endl
+ << " Supported protocols: ";
+
+ if (si->mailbox_protocols & EC_MBOX_AOE) {
+ protoList.push_back("AoE");
+ }
+ if (si->mailbox_protocols & EC_MBOX_EOE) {
+ protoList.push_back("EoE");
+ }
+ if (si->mailbox_protocols & EC_MBOX_COE) {
+ protoList.push_back("CoE");
+ }
+ if (si->mailbox_protocols & EC_MBOX_FOE) {
+ protoList.push_back("FoE");
+ }
+ if (si->mailbox_protocols & EC_MBOX_SOE) {
+ protoList.push_back("SoE");
+ }
+ if (si->mailbox_protocols & EC_MBOX_VOE) {
+ protoList.push_back("VoE");
+ }
+
+ for (protoIter = protoList.begin(); protoIter != protoList.end();
+ protoIter++) {
+ if (protoIter != protoList.begin())
+ cout << ", ";
+ cout << *protoIter;
+ }
+ cout << endl;
+ }
+
+ if (si->has_general_category) {
+ cout << "General:" << endl
+ << " Group: " << si->group << endl
+ << " Image name: " << si->image << endl
+ << " Order number: " << si->order << endl
+ << " Device name: " << si->name << endl;
+
+ if (si->mailbox_protocols & EC_MBOX_COE) {
+ cout << " CoE details:" << endl
+ << " Enable Sdo: "
+ << (si->coe_details.enable_sdo ? "yes" : "no") << endl
+ << " Enable Sdo Info: "
+ << (si->coe_details.enable_sdo_info ? "yes" : "no") << endl
+ << " Enable Pdo Assign: "
+ << (si->coe_details.enable_pdo_assign
+ ? "yes" : "no") << endl
+ << " Enable Pdo Configuration: "
+ << (si->coe_details.enable_pdo_configuration
+ ? "yes" : "no") << endl
+ << " Enable Upload at startup: "
+ << (si->coe_details.enable_upload_at_startup
+ ? "yes" : "no") << endl
+ << " Enable Sdo complete access: "
+ << (si->coe_details.enable_sdo_complete_access
+ ? "yes" : "no") << endl;
+ }
+
+ cout << " Flags:" << endl
+ << " Enable SafeOp: "
+ << (si->general_flags.enable_safeop ? "yes" : "no") << endl
+ << " Enable notLRW: "
+ << (si->general_flags.enable_not_lrw ? "yes" : "no") << endl
+ << " Current consumption: "
+ << dec << si->current_on_ebus << " mA" << endl;
+ }
+ }
+}
+
+/****************************************************************************/
+
+bool CommandSlaves::slaveInList(
+ const ec_ioctl_slave_t &slave,
+ const SlaveList &slaves
+ )
+{
+ SlaveList::const_iterator si;
+
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ if (si->position == slave.position) {
+ return true;
+ }
+ }
+
+ return false;
}
/*****************************************************************************/
--- a/tool/CommandSlaves.h Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandSlaves.h Fri Jul 25 14:19:29 2008 +0000
@@ -30,8 +30,10 @@
string name;
};
- void listSlaves(MasterDevice &, int);
- void showSlave(MasterDevice &, uint16_t);
+ void listSlaves(MasterDevice &, const SlaveList &);
+ void showSlaves(MasterDevice &, const SlaveList &);
+
+ static bool slaveInList( const ec_ioctl_slave_t &, const SlaveList &);
};
/****************************************************************************/
--- a/tool/CommandStates.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandStates.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -42,6 +42,8 @@
void CommandStates::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
+ SlaveList::const_iterator si;
stringstream err;
string stateStr;
uint8_t state = 0x00;
@@ -69,13 +71,10 @@
}
m.open(MasterDevice::ReadWrite);
+ slaves = selectedSlaves(m);
- if (slavePosition == -1) {
- unsigned int i, numSlaves = m.slaveCount();
- for (i = 0; i < numSlaves; i++)
- m.requestState(i, state);
- } else {
- m.requestState(slavePosition, state);
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ m.requestState(si->position, state);
}
}
--- a/tool/CommandUpload.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandUpload.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -58,19 +58,13 @@
void CommandUpload::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
stringstream err, strIndex, strSubIndex;
int sval;
ec_ioctl_slave_sdo_upload_t data;
unsigned int uval;
const CoEDataType *dataType = NULL;
- if (slavePosition < 0) {
- err << "'" << getName() << "' requires a slave! "
- << "Please specify --slave.";
- throwInvalidUsageException(err);
- }
- data.slave_position = slavePosition;
-
if (args.size() != 2) {
err << "'" << getName() << "' takes two arguments!";
throwInvalidUsageException(err);
@@ -95,6 +89,14 @@
}
data.sdo_entry_subindex = uval;
+ m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+ if (slaves.size() != 1) {
+ err << slaves.size() << " slaves selected, single slave required!";
+ throwInvalidUsageException(err);
+ }
+ data.slave_position = slaves.front().position;
+
if (dataTypeStr != "") { // data type specified
if (!(dataType = findDataType(dataTypeStr))) {
err << "Invalid data type '" << dataTypeStr << "'!";
@@ -103,10 +105,8 @@
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
- m.open(MasterDevice::Read);
-
try {
- m.getSdoEntry(&entry, slavePosition,
+ m.getSdoEntry(&entry, data.slave_position,
data.sdo_index, data.sdo_entry_subindex);
} catch (MasterDeviceException &e) {
err << "Failed to determine Sdo entry data type. "
@@ -129,8 +129,6 @@
data.target = new uint8_t[data.target_size + 1];
- m.open(MasterDevice::Read);
-
try {
m.sdoUpload(&data);
} catch (MasterDeviceException &e) {
--- a/tool/CommandXml.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandXml.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -45,32 +45,30 @@
void CommandXml::execute(MasterDevice &m, const StringVector &args)
{
+ SlaveList slaves;
+ SlaveList::const_iterator si;
+
m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
- if (slavePosition == -1) {
- unsigned int numSlaves = m.slaveCount(), i;
-
- for (i = 0; i < numSlaves; i++) {
- generateSlaveXml(m, i);
- }
- } else {
- generateSlaveXml(m, slavePosition);
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ generateSlaveXml(m, *si);
}
}
/****************************************************************************/
-void CommandXml::generateSlaveXml(MasterDevice &m, uint16_t slavePosition)
+void CommandXml::generateSlaveXml(
+ MasterDevice &m,
+ const ec_ioctl_slave_t &slave
+ )
{
- ec_ioctl_slave_t slave;
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
string pdoType;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
- m.getSlave(&slave, slavePosition);
-
cout
<< "<?xml version=\"1.0\" ?>" << endl
<< " <EtherCATInfo>" << endl
@@ -95,7 +93,7 @@
}
for (i = 0; i < slave.sync_count; i++) {
- m.getSync(&sync, slavePosition, i);
+ m.getSync(&sync, slave.position, i);
cout
<< " <Sm Enable=\"" << dec << (unsigned int) sync.enable
@@ -106,10 +104,10 @@
}
for (i = 0; i < slave.sync_count; i++) {
- m.getSync(&sync, slavePosition, i);
+ m.getSync(&sync, slave.position, i);
for (j = 0; j < sync.pdo_count; j++) {
- m.getPdo(&pdo, slavePosition, i, j);
+ m.getPdo(&pdo, slave.position, i, j);
pdoType = (sync.control_register & 0x04 ? "R" : "T");
pdoType += "xPdo";
@@ -122,7 +120,7 @@
<< " <Name>" << pdo.name << "</Name>" << endl;
for (k = 0; k < pdo.entry_count; k++) {
- m.getPdoEntry(&entry, slavePosition, i, j, k);
+ m.getPdoEntry(&entry, slave.position, i, j, k);
cout
<< " <Entry>" << endl
--- a/tool/CommandXml.h Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/CommandXml.h Fri Jul 25 14:19:29 2008 +0000
@@ -21,7 +21,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void generateSlaveXml(MasterDevice &, uint16_t);
+ void generateSlaveXml(MasterDevice &, const ec_ioctl_slave_t &);
};
/****************************************************************************/
--- a/tool/main.cpp Fri Jul 25 14:14:47 2008 +0000
+++ b/tool/main.cpp Fri Jul 25 14:19:29 2008 +0000
@@ -41,6 +41,7 @@
// option variables
unsigned int masterIndex = 0;
int slavePosition = -1;
+int slaveAlias = -1;
int domainIndex = -1;
string dataTypeStr;
Command::Verbosity verbosity = Command::Normal;
@@ -98,20 +99,22 @@
char *remainder;
static struct option longOptions[] = {
- //name, has_arg, flag, val
- {"master", required_argument, NULL, 'm'},
- {"slave", required_argument, NULL, 's'},
- {"domain", required_argument, NULL, 'd'},
- {"type", required_argument, NULL, 't'},
- {"force", no_argument, NULL, 'f'},
- {"quiet", no_argument, NULL, 'q'},
- {"verbose", no_argument, NULL, 'v'},
- {"help", no_argument, NULL, 'h'},
+ //name, has_arg, flag, val
+ {"master", required_argument, NULL, 'm'},
+ {"alias", required_argument, NULL, 'a'},
+ {"position", required_argument, NULL, 'p'},
+ {"domain", required_argument, NULL, 'd'},
+ {"type", required_argument, NULL, 't'},
+ {"force", no_argument, NULL, 'f'},
+ {"quiet", no_argument, NULL, 'q'},
+ {"verbose", no_argument, NULL, 'v'},
+ {"help", no_argument, NULL, 'h'},
{}
};
do {
- c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
+ c = getopt_long(argc, argv, "m:a:p:d:t:fqvh",
+ longOptions, &optionIndex);
switch (c) {
case 'm':
@@ -124,7 +127,22 @@
masterIndex = number;
break;
- case 's':
+ case 'a':
+ if (!strcmp(optarg, "all")) {
+ slaveAlias = -1;
+ } else {
+ number = strtoul(optarg, &remainder, 0);
+ if (remainder == optarg || *remainder
+ || number < 0 || number > 0xFFFF) {
+ cerr << "Invalid slave alias " << optarg << "!"
+ << endl << endl << usage();
+ exit(1);
+ }
+ slaveAlias = number;
+ }
+ break;
+
+ case 'p':
if (!strcmp(optarg, "all")) {
slavePosition = -1;
} else {
@@ -265,6 +283,8 @@
if (!helpRequested) {
try {
cmd->setVerbosity(verbosity);
+ cmd->setAlias(slaveAlias);
+ cmd->setPosition(slavePosition);
cmd->execute(masterDev, commandArgs);
} catch (InvalidUsageException &e) {
cerr << e.what() << endl << endl;