Command::SlaveList Command::selectedSlaves(MasterDevice &m)
{
ec_ioctl_master_t master;
unsigned int i;
ec_ioctl_slave_t slave;
SlaveList list;
m.getMaster(&master);
if (aliases == "-") { // no alias given
PositionParser pp(master.slave_count);
NumberListParser::List posList = pp.parse(positions.c_str());
NumberListParser::List::const_iterator pi;
for (pi = posList.begin(); pi != posList.end(); pi++) {
if (*pi < master.slave_count) {
m.getSlave(&slave, *pi);
list.push_back(slave);
}
}
} else { // aliases given
SlaveAliasParser ap(master, m);
NumberListParser::List aliasList = ap.parse(aliases.c_str());
NumberListParser::List::const_iterator ai;
for (ai = aliasList.begin(); ai != aliasList.end(); ai++) {
// gather slaves with that alias (and following)
uint16_t lastAlias = 0;
vector<ec_ioctl_slave_t> aliasSlaves;
for (i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
if (slave.alias) {
if (lastAlias && lastAlias == *ai && slave.alias != *ai) {
// ignore multiple ocurrences of the same alias to
// assure consistency for the position argument
break;
}
lastAlias = slave.alias;
}
if (lastAlias == *ai) {
aliasSlaves.push_back(slave);
}
}
PositionParser pp(aliasSlaves.size());
NumberListParser::List posList = pp.parse(positions.c_str());
NumberListParser::List::const_iterator pi;
for (pi = posList.begin(); pi != posList.end(); pi++) {
if (*pi < aliasSlaves.size()) {
list.push_back(aliasSlaves[*pi]);
}
}
}
}
return list;
}
Command::ConfigList Command::selectedConfigs(MasterDevice &m)
{
unsigned int i;
ec_ioctl_master_t master;
ec_ioctl_config_t config;
ConfigList list;
stringstream err;
m.getMaster(&master);
if (aliases == "-" && positions == "-") { // shortcut
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
list.push_back(config);
}
} else { // take the long way home...
ConfigMap configs;
uint16_t maxAlias = 0;
// fill cascaded map structure with all configs
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
AliasMap &aliasMap = configs[config.alias];
aliasMap[config.position] = config;
if (config.alias > maxAlias) {
maxAlias = config.alias;
}
}
ConfigAliasParser ap(maxAlias);
NumberListParser::List aliasList = ap.parse(aliases.c_str());
NumberListParser::List::const_iterator ai;
for (ai = aliasList.begin(); ai != aliasList.end(); ai++) {
ConfigMap::iterator ci = configs.find(*ai);
if (ci == configs.end()) {
continue;
}
AliasMap &aliasMap = configs[*ai];
AliasPositionParser pp(aliasMap);
NumberListParser::List posList = pp.parse(positions.c_str());
NumberListParser::List::const_iterator pi;
for (pi = posList.begin(); pi != posList.end(); pi++) {
AliasMap::const_iterator ci;
ci = aliasMap.find(*pi);
if (ci != aliasMap.end()) {
list.push_back(ci->second);
}
}
}
}
list.sort();
return list;
}
void CommandData::outputDomainData(
MasterDevice &m,
const ec_ioctl_domain_t &domain
)
{
ec_ioctl_domain_data_t data;
unsigned char *processData;
unsigned int i;
if (!domain.data_size)
return;
processData = new unsigned char[domain.data_size];
try {
m.getData(&data, domain.index, domain.data_size, processData);
} catch (MasterDeviceException &e) {
delete [] processData;
throw e;
}
for (i = 0; i < data.data_size; i++)
cout << processData[i];
cout.flush();
delete [] processData;
}
Command::DomainList Command::selectedDomains(MasterDevice &m,
const ec_ioctl_master_t &io)
{
DomainList list;
PositionParser pp(io.domain_count);
NumberListParser::List domList = pp.parse(domains.c_str());
NumberListParser::List::const_iterator di;
for (di = domList.begin(); di != domList.end(); di++) {
if (*di < io.domain_count) {
ec_ioctl_domain_t d;
m.getDomain(&d, *di);
list.push_back(d);
}
}
return list;
}
/** Lists the bus configuration.
*/
void CommandConfig::listConfigs(
MasterDevice &m,
const ConfigList &configList,
bool doIndent
)
{
ConfigList::const_iterator configIter;
stringstream str;
Info info;
typedef list<Info> InfoList;
InfoList list;
InfoList::const_iterator iter;
unsigned int maxAliasWidth = 0, maxPosWidth = 0,
maxSlavePosWidth = 0, maxStateWidth = 0;
ec_ioctl_slave_t slave;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
configIter != configList.end();
configIter++) {
str << dec << configIter->alias;
info.alias = str.str();
str.clear();
str.str("");
str << configIter->position;
info.pos = str.str();
str.clear();
str.str("");
str << hex << setfill('0')
<< "0x" << setw(8) << configIter->vendor_id
<< "/0x" << setw(8) << configIter->product_code;
info.ident = str.str();
str.clear();
str.str("");
if (configIter->slave_position != -1) {
m.getSlave(&slave, configIter->slave_position);
str << dec << configIter->slave_position;
info.slavePos = str.str();
str.clear();
str.str("");
info.state = alStateString(slave.al_state);
} else {
str << "-";
info.slavePos = str.str();
str.clear();
str.str("");
str << "-";
info.state = str.str();
str.clear();
str.str("");
}
list.push_back(info);
if (info.alias.length() > maxAliasWidth)
maxAliasWidth = info.alias.length();
if (info.pos.length() > maxPosWidth)
maxPosWidth = info.pos.length();
if (info.slavePos.length() > maxSlavePosWidth)
maxSlavePosWidth = info.slavePos.length();
if (info.state.length() > maxStateWidth)
maxStateWidth = info.state.length();
}
for (iter = list.begin(); iter != list.end(); iter++) {
cout << indent << setfill(' ') << right
<< setw(maxAliasWidth) << iter->alias
<< ":" << left
<< setw(maxPosWidth) << iter->pos
<< " "
<< iter->ident
<< " "
<< setw(maxSlavePosWidth) << iter->slavePos << " "
<< setw(maxStateWidth) << iter->state << " "
<< endl;
}
}
/** Lists the complete bus configuration.
*/
void CommandConfig::showDetailedConfigs(
MasterDevice &m,
const ConfigList &configList,
bool doIndent
)
{
ConfigList::const_iterator configIter;
unsigned int i, j, k, l;
ec_ioctl_slave_t slave;
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
ec_ioctl_config_idn_t idn;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
configIter != configList.end();
configIter++) {
cout << indent
<< "Alias: "
<< dec << configIter->alias << endl << indent
<< "Position: " << configIter->position << endl << indent
<< "Vendor Id: 0x"
<< hex << setfill('0')
<< setw(8) << configIter->vendor_id << endl << indent
<< "Product code: 0x"
<< setw(8) << configIter->product_code << endl << indent
<< "Attached slave: ";
if (configIter->slave_position != -1) {
m.getSlave(&slave, configIter->slave_position);
cout << dec << configIter->slave_position
<< " (" << alStateString(slave.al_state) << ")" << endl;
} else {
cout << "none" << endl;
}
cout << indent << "Watchdog divider: ";
if (configIter->watchdog_divider) {
cout << dec << configIter->watchdog_divider;
} else {
cout << "(Default)";
}
cout << endl << indent
<< "Watchdog intervals: ";
if (configIter->watchdog_intervals) {
cout << dec << configIter->watchdog_intervals;
} else {
cout << "(Default)";
}
cout << endl;
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
if (configIter->syncs[j].pdo_count) {
cout << indent << "SM" << dec << j << ", Dir: "
<< (configIter->syncs[j].dir == EC_DIR_INPUT
? "Input" : "Output") << ", Watchdog: ";
switch (configIter->syncs[j].watchdog_mode) {
case EC_WD_DEFAULT: cout << "Default"; break;
case EC_WD_ENABLE: cout << "Enable"; break;
case EC_WD_DISABLE: cout << "Disable"; break;
default: cout << "???"; break;
}
cout << endl;
for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
m.getConfigPdo(&pdo, configIter->config_index, j, k);
cout << indent << " PDO 0x" << hex << setfill('0')
<< setw(4) << pdo.index << endl;
for (l = 0; l < pdo.entry_count; l++) {
m.getConfigPdoEntry(&entry,
configIter->config_index, j, k, l);
cout << indent << " PDO entry 0x"
<< hex << setfill('0')
<< setw(4) << entry.index << ":"
<< setw(2) << (unsigned int) entry.subindex
<< ", " << dec << setfill(' ')
<< setw(2) << (unsigned int) entry.bit_length
<< " bit" << endl;
}
}
}
}
cout << indent << "SDO configuration:" << endl;
if (configIter->sdo_count) {
for (j = 0; j < configIter->sdo_count; j++) {
m.getConfigSdo(&sdo, configIter->config_index, j);
cout << indent << " 0x"
<< hex << setfill('0')
<< setw(4) << sdo.index;
if (sdo.complete_access) {
cout << " C";
}
else {
cout << ":" << setw(2) << (unsigned int) sdo.subindex;
}
cout << ", " << dec << sdo.size << " byte" << endl;
cout << indent << " " << hex;
for (i = 0; i < min((uint32_t) sdo.size,
(uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {
cout << setw(2) << (unsigned int) sdo.data[i];
if ((i + 1) % 16 == 0 && i < sdo.size - 1) {
cout << endl << indent << " ";
} else {
cout << " ";
}
}
cout << endl;
if (sdo.size > EC_MAX_SDO_DATA_SIZE) {
cout << indent << " ..." << endl;
}
}
} else {
cout << indent << " None." << endl;
}
cout << indent << "IDN configuration:" << endl;
if (configIter->idn_count) {
for (j = 0; j < configIter->idn_count; j++) {
m.getConfigIdn(&idn, configIter->config_index, j);
cout << indent << " Drive " << (unsigned int) idn.drive_no
<< ", " << outputIdn(idn.idn)
<< ", " << dec << idn.size << " byte" << endl;
cout << indent << " " << hex << setfill('0');
for (i = 0; i < min((uint32_t) idn.size,
(uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
cout << setw(2) << (unsigned int) idn.data[i];
if ((i + 1) % 16 == 0 && i < idn.size - 1) {
cout << endl << indent << " ";
} else {
cout << " ";
}
}
cout << endl;
if (idn.size > EC_MAX_IDN_DATA_SIZE) {
cout << indent << " ..." << endl;
}
}
} else {
cout << indent << " None." << endl;
}
if (configIter->dc_assign_activate) {
int i;
cout << indent << "DC configuration:" << endl
<< indent << " AssignActivate: 0x" << hex << setfill('0')
<< setw(4) << configIter->dc_assign_activate << endl;
cout << indent << " Cycle [ns] Shift [ns]" << endl;
for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
cout << indent << " SYNC" << dec << i << " "
<< setfill(' ') << right
<< setw(11) << configIter->dc_sync[i].cycle_time
<< " "
<< setw(11) << configIter->dc_sync[i].shift_time
<< endl;
}
}
cout << endl;
}
}
int getMax() {
MasterDevice dev;
dev.setIndex(0U);
dev.open(MasterDevice::Read);
return (int) dev.getMasterCount() - 1;
};
void CommandCStruct::generateSlaveCStruct(
MasterDevice &m,
const 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, pdo_pos = 0, entry_pos = 0;
stringstream id, syncs, pdos, entries;
if (!slave.sync_count)
return;
id << "slave_" << dec << slave.position << "_";
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
syncs << " {" << dec << sync.sync_index
<< ", " << (EC_READ_BIT(&sync.control_register, 2) ?
"EC_DIR_OUTPUT" : "EC_DIR_INPUT")
<< ", " << dec << (unsigned int) sync.pdo_count
<< ", ";
if (sync.pdo_count) {
syncs << id.str() << "pdos + " << dec << pdo_pos;
} else {
syncs << "NULL";
}
syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ?
"EC_WD_ENABLE" : "EC_WD_DISABLE")
<< "},";
syncs << endl;
pdo_pos += sync.pdo_count;
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
pdos << " {0x" << hex << setfill('0')
<< setw(4) << pdo.index
<< ", " << dec << (unsigned int) pdo.entry_count
<< ", ";
if (pdo.entry_count) {
pdos << id.str() << "pdo_entries + " << dec << entry_pos;
} else {
pdos << "NULL";
}
pdos << "},";
if (strlen((const char *) pdo.name)) {
pdos << " /* " << pdo.name << " */";
}
pdos << endl;
entry_pos += pdo.entry_count;
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
entries << " {0x" << hex << setfill('0')
<< setw(4) << entry.index
<< ", 0x" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
<< "},";
if (strlen((const char *) entry.name)) {
entries << " /* " << entry.name << " */";
}
entries << endl;
}
}
}
cout
<< "/* Master " << m.getIndex() << ", Slave " << slave.position;
if (strlen(slave.order)) {
cout << ", \"" << slave.order << "\"";
}
cout << endl
<< " * Vendor ID: 0x" << hex << setfill('0')
<< setw(8) << slave.vendor_id << endl
<< " * Product code: 0x" << hex << setfill('0')
<< setw(8) << slave.product_code << endl
<< " * Revision number: 0x" << hex << setfill('0')
<< setw(8) << slave.revision_number << endl
<< " */" << endl
<< endl;
if (entry_pos) {
cout << "ec_pdo_entry_info_t " << id.str()
<< "pdo_entries[] = {" << endl
<< entries.str()
<< "};" << endl
<< endl;
}
if (pdo_pos) {
cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl
<< pdos.str()
<< "};" << endl
<< endl;
}
cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl
<< syncs.str()
<< " {0xff}" << endl
<< "};" << endl
<< endl;
}