--- a/tools/Master.cpp Fri Jun 27 07:22:02 2008 +0000
+++ b/tools/Master.cpp Fri Jun 27 08:58:04 2008 +0000
@@ -334,97 +334,6 @@
/****************************************************************************/
-struct SlaveInfo {
- string pos;
- string alias;
- string relPos;
- string state;
- string flag;
- string name;
-};
-
-void Master::listSlaves()
-{
- unsigned int numSlaves, i;
- ec_ioctl_slave_t slave;
- uint16_t lastAlias, aliasIndex;
- SlaveInfo slaveInfo;
- typedef list<SlaveInfo> SlaveInfoList;
- SlaveInfoList slaveInfoList;
- SlaveInfoList::const_iterator iter;
- stringstream str;
- unsigned int maxPosWidth = 0, maxAliasWidth = 0,
- maxRelPosWidth = 0, maxStateWidth = 0;
-
- open(Read);
-
- numSlaves = slaveCount();
-
- lastAlias = 0;
- aliasIndex = 0;
- for (i = 0; i < numSlaves; i++) {
- getSlave(&slave, i);
-
- str << dec << i;
- slaveInfo.pos = str.str();
- str.clear();
- str.str("");
-
- if (slave.alias) {
- lastAlias = slave.alias;
- aliasIndex = 0;
- }
- if (lastAlias) {
- str << "#" << hex << lastAlias;
- slaveInfo.alias = str.str();
- str.str("");
- str << ":" << dec << aliasIndex;
- slaveInfo.relPos = str.str();
- str.str("");
- aliasIndex++;
- } else {
- slaveInfo.alias = "";
- slaveInfo.relPos = "";
- }
-
- slaveInfo.state = slaveState(slave.state);
- slaveInfo.flag = (slave.error_flag ? 'E' : '+');
-
- if (strlen(slave.name)) {
- slaveInfo.name = slave.name;
- } else {
- str << hex << setfill('0')
- << setw(8) << slave.vendor_id << ":"
- << setw(8) << slave.product_code;
- slaveInfo.name = str.str();
- str.str("");
- }
-
- slaveInfoList.push_back(slaveInfo);
- if (slaveInfo.pos.length() > maxPosWidth)
- maxPosWidth = slaveInfo.pos.length();
- if (slaveInfo.alias.length() > maxAliasWidth)
- maxAliasWidth = slaveInfo.alias.length();
- if (slaveInfo.relPos.length() > maxRelPosWidth)
- maxRelPosWidth = slaveInfo.relPos.length();
- if (slaveInfo.state.length() > maxStateWidth)
- maxStateWidth = slaveInfo.state.length();
- }
-
- for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
- cout << setfill(' ') << right
- << setw(maxPosWidth) << iter->pos << " "
- << setw(maxAliasWidth) << iter->alias
- << left
- << setw(maxRelPosWidth) << iter->relPos << " "
- << setw(maxStateWidth) << iter->state << " "
- << iter->flag << " "
- << iter->name << endl;
- }
-}
-
-/****************************************************************************/
-
void Master::showMaster()
{
ec_ioctl_master_t data;
@@ -821,18 +730,22 @@
/****************************************************************************/
-void Master::showSlaves(int slavePosition)
+void Master::showSlaves(int slavePosition, bool verbose)
{
open(Read);
- if (slavePosition == -1) {
- unsigned int numSlaves = slaveCount(), i;
-
- for (i = 0; i < numSlaves; i++) {
- showSlave(i);
+ if (verbose) {
+ if (slavePosition == -1) {
+ unsigned int numSlaves = slaveCount(), i;
+
+ for (i = 0; i < numSlaves; i++) {
+ showSlave(i);
+ }
+ } else {
+ showSlave(slavePosition);
}
} else {
- showSlave(slavePosition);
+ listSlaves(slavePosition);
}
}
@@ -1325,6 +1238,104 @@
/****************************************************************************/
+struct SlaveInfo {
+ string pos;
+ string alias;
+ string relPos;
+ string state;
+ string flag;
+ string name;
+};
+
+void Master::listSlaves(int slavePosition)
+{
+ unsigned int numSlaves, i;
+ ec_ioctl_slave_t slave;
+ uint16_t lastAlias, aliasIndex;
+ SlaveInfo slaveInfo;
+ typedef list<SlaveInfo> SlaveInfoList;
+ SlaveInfoList slaveInfoList;
+ SlaveInfoList::const_iterator iter;
+ stringstream str;
+ unsigned int maxPosWidth = 0, maxAliasWidth = 0,
+ maxRelPosWidth = 0, maxStateWidth = 0;
+
+ open(Read);
+
+ numSlaves = slaveCount();
+
+ lastAlias = 0;
+ aliasIndex = 0;
+ for (i = 0; i < numSlaves; i++) {
+ getSlave(&slave, i);
+
+ if (slave.alias) {
+ lastAlias = slave.alias;
+ aliasIndex = 0;
+ }
+
+ if (slavePosition == -1 || i == slavePosition) {
+ str << dec << i;
+ slaveInfo.pos = str.str();
+ str.clear();
+ str.str("");
+
+ if (lastAlias) {
+ str << "#" << hex << lastAlias;
+ slaveInfo.alias = str.str();
+ str.str("");
+ str << ":" << dec << aliasIndex;
+ slaveInfo.relPos = str.str();
+ str.str("");
+ } else {
+ slaveInfo.alias = "";
+ slaveInfo.relPos = "";
+ }
+
+ slaveInfo.state = slaveState(slave.state);
+ slaveInfo.flag = (slave.error_flag ? 'E' : '+');
+
+ if (strlen(slave.name)) {
+ slaveInfo.name = slave.name;
+ } else {
+ str << hex << setfill('0')
+ << setw(8) << slave.vendor_id << ":"
+ << setw(8) << slave.product_code;
+ slaveInfo.name = str.str();
+ str.str("");
+ }
+
+
+ slaveInfoList.push_back(slaveInfo);
+
+ if (slaveInfo.pos.length() > maxPosWidth)
+ maxPosWidth = slaveInfo.pos.length();
+ if (slaveInfo.alias.length() > maxAliasWidth)
+ maxAliasWidth = slaveInfo.alias.length();
+ if (slaveInfo.relPos.length() > maxRelPosWidth)
+ maxRelPosWidth = slaveInfo.relPos.length();
+ if (slaveInfo.state.length() > maxStateWidth)
+ maxStateWidth = slaveInfo.state.length();
+ }
+
+ if (lastAlias)
+ aliasIndex++;
+ }
+
+ for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
+ cout << setfill(' ') << right
+ << setw(maxPosWidth) << iter->pos << " "
+ << setw(maxAliasWidth) << iter->alias
+ << left
+ << setw(maxRelPosWidth) << iter->relPos << " "
+ << setw(maxStateWidth) << iter->state << " "
+ << iter->flag << " "
+ << iter->name << endl;
+ }
+}
+
+/****************************************************************************/
+
void Master::showSlave(uint16_t slavePosition)
{
ec_ioctl_slave_t slave;
--- a/tools/Master.h Fri Jun 27 07:22:02 2008 +0000
+++ b/tools/Master.h Fri Jun 27 08:58:04 2008 +0000
@@ -47,13 +47,12 @@
void outputData(int);
void setDebug(const vector<string> &);
void showDomains(int);
- void listSlaves();
void showMaster();
void listPdos(int, bool = false);
void listSdos(int, bool = false);
void sdoDownload(int, const string &, const vector<string> &);
void sdoUpload(int, const string &, const vector<string> &);
- void showSlaves(int);
+ void showSlaves(int, bool);
void siiRead(int);
void siiWrite(int, bool, const vector<string> &);
void requestStates(int, const vector<string> &);
@@ -69,6 +68,7 @@
void showDomain(unsigned int);
void listSlavePdos(uint16_t, bool = false, bool = false);
void listSlaveSdos(uint16_t, bool = false, bool = false);
+ void listSlaves(int);
void showSlave(uint16_t);
void generateSlaveXml(uint16_t);
unsigned int slaveCount();
--- a/tools/main.cpp Fri Jun 27 07:22:02 2008 +0000
+++ b/tools/main.cpp Fri Jun 27 08:58:04 2008 +0000
@@ -23,6 +23,7 @@
static string command;
vector<string> commandArgs;
static bool quiet = false;
+static bool verbose = false;
string dataTypeStr;
bool force = false;
@@ -33,22 +34,21 @@
cerr
<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl
<< "Commands:" << endl
- << " alias Write alias address(es)." << endl
- << " config Show slave configurations." << endl
- << " data Output binary domain process data." << endl
- << " debug Set the master debug level." << endl
- << " domain Show domain information." << endl
- << " list (ls) List all slaves (former 'lsec')." << endl
- << " master Show master information." << endl
- << " pdos List Pdo mapping." << endl
- << " sdos List Sdo dictionaries." << endl
- << " sdo_download (sd) Write an Sdo entry." << endl
- << " sdo_upload (su) Read an Sdo entry." << endl
- << " slave Show slave information." << endl
- << " sii_read (sr) Output a slave's SII contents." << endl
- << " sii_write (sw) Write slave's SII contents." << endl
- << " state Request slave states." << endl
- << " xml Generate slave information xmls." << endl
+ << " alias Write alias addresses." << endl
+ << " config Show bus configuration." << endl
+ << " data Output binary domain process data." << endl
+ << " debug Set the master's debug level." << endl
+ << " domain Show domain information." << endl
+ << " master Show master information." << endl
+ << " pdos List Pdo assignment/mapping." << endl
+ << " sdo_download Write an Sdo entry." << endl
+ << " sdos List Sdo dictionaries." << endl
+ << " sdo_upload Read an Sdo entry." << endl
+ << " sii_read Output a slave's SII contents." << endl
+ << " sii_write Write slave's SII contents." << endl
+ << " slaves Show slaves." << endl
+ << " state Request slave states." << endl
+ << " xml Generate slave information xmls." << endl
<< "Global options:" << endl
<< " --master -m <master> Index of the master to use. Default: "
<< DEFAULT_MASTER << endl
@@ -62,7 +62,8 @@
<< endl
<< " --type -t <type> Forced Sdo data type." << endl
<< " --force -f Force action." << endl
- << " --quiet -q Show less output." << endl
+ << " --quiet -q Output less information." << endl
+ << " --verbose -v Output more information." << endl
<< " --help -h Show this help." << endl;
}
@@ -74,19 +75,20 @@
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'},
- {"help", no_argument, NULL, 'h'},
+ //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'},
{}
};
do {
- c = getopt_long(argc, argv, "m:s:d:t:fqh", longOptions, &optionIndex);
+ c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
switch (c) {
case 'm':
@@ -140,6 +142,12 @@
case 'q':
quiet = true;
+ verbose = false;
+ break;
+
+ case 'v':
+ verbose = true;
+ quiet = false;
break;
case 'h':
@@ -187,8 +195,6 @@
master.setDebug(commandArgs);
} else if (command == "domain") {
master.showDomains(domainIndex);
- } else if (command == "list" || command == "ls") {
- master.listSlaves();
} else if (command == "master") {
master.showMaster();
} else if (command == "pdos") {
@@ -199,8 +205,9 @@
master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sdo_upload" || command == "su") {
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
- } else if (command == "slave") {
- master.showSlaves(slavePosition);
+ } else if (command == "slave" || command == "slaves"
+ || command == "list" || command == "ls") {
+ master.showSlaves(slavePosition, verbose);
} else if (command == "sii_read" || command == "sr") {
master.siiRead(slavePosition);
} else if (command == "sii_write" || command == "sw") {