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; }