Add CLI support for configuring cache levels

master/ioctl.c

@@ -2401,13 +2401,7 @@ static ATTRIBUTES int ec_ioctl_sii_caching(
         )
 {
     int ret = 0;
-    if (unlikely(!ctx->requested)) {
-        ret = -EPERM;
-        goto out_return;
-    }
-
     ret = ecrt_master_sii_caching(master, (unsigned long) arg);
-out_return:
     return ret;
 }
 

tool/CommandCache.cpp

@@ -0,0 +1,115 @@
+/*****************************************************************************
+ *
+ *
+ *  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
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <sstream>
+#include <iomanip>
+#include <cstdlib>
+using namespace std;
+
+#include "CommandCache.h"
+#include "MasterDevice.h"
+
+/****************************************************************************/
+
+CommandCache::CommandCache():
+    Command("sii_caching", "Configure SII_CACHING settings.")
+{
+}
+
+/****************************************************************************/
+
+string CommandCache::helpString(const string &binaryBaseName) const
+{
+    stringstream str;
+
+    str << binaryBaseName << " " << getName() << " <FIELDS>" << endl
+        << endl
+        << getBriefDescription() << endl
+        << endl
+        << "This command configures cache level to speed up scanning process" << endl
+        << endl
+        << "Caching fields are specified as a decimal number that is a" << endl
+        << "combination of the following flags:" << endl
+        << "  0 - Disable SII caching" << endl
+        << "  1 - Use vendor ID" << endl
+        << "  2 - Use product code" << endl
+        << "  4 - Use revision number" << endl
+        << "  8 - Use serial number" << endl
+        << " 16 - Use alias address" << endl
+        << endl
+        << "Example: 'ethercat cache 31' enables caching based on all" << endl
+        << "  five fields (1+2+4+8+16=31)." << endl
+        << "Example: 'ethercat cache 0' disables SII caching." << endl
+        << endl
+        << "Arguments:" << endl
+        << "  FIELDS  Decimal number representing the caching fields." << endl
+        << endl;
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandCache::execute(const StringVector &args)
+{
+    MasterIndexList masterIndices;
+    uint32_t fields;
+    stringstream err;
+
+    if (args.size() != 1) 
+    {
+        err << "'" << getName() << "' requires exactly one argument!";
+        throwInvalidUsageException(err);
+    }
+
+    // Use strtoul instead of stoul for older C++ standards
+    char *endptr;
+    fields = strtoul(args[0].c_str(), &endptr, 10);
+
+    // Basic error checking to ensure the string was actually a number
+    if (*endptr != '\0' || args[0].empty()) {
+        err << "Invalid caching fields value '" << args[0] << "'";
+        throwInvalidUsageException(err);
+    }
+
+    if (fields > 31) {
+        err << "Caching fields value must be between 0 and 31.";
+        throwInvalidUsageException(err);
+    }
+
+    masterIndices = getMasterIndices();
+    MasterIndexList::const_iterator mi;
+    for (mi = masterIndices.begin(); mi != masterIndices.end(); mi++) {
+        MasterDevice m(*mi);
+        m.open(MasterDevice::ReadWrite);
+        
+        try {
+            m.setSiiCaching(fields);
+            cout << "Master " << dec << *mi << ": SII caching set to 0x"
+                << hex << setfill('0') << setw(2) << fields << dec << endl;
+        } catch (const MasterDeviceException &e) {
+            err << "Master " << *mi << ": " << e.what();
+            throwCommandException(err);
+        }
+    }
+}
+
+/****************************************************************************/

tool/CommandCache.h

@@ -0,0 +1,39 @@
+/*****************************************************************************
+ * 
+ *  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
+ *
+ ****************************************************************************/
+
+#ifndef __COMMANDCACHE_H__
+#define __COMMANDCACHE_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandCache:
+    public Command
+{
+    public:
+        CommandCache();
+
+        string helpString(const string &) const;
+        void execute(const StringVector &);
+};
+
+/****************************************************************************/
+
+#endif

tool/Makefile.am

@@ -30,6 +30,7 @@ bin_PROGRAMS = ethercat
 ethercat_SOURCES = \
 	Command.cpp \
 	CommandAlias.cpp \
+	CommandCache.cpp \
 	CommandCrc.cpp \
 	CommandCStruct.cpp \
 	CommandConfig.cpp \
@@ -73,6 +74,7 @@ endif
 noinst_HEADERS = \
 	Command.h \
 	CommandAlias.h \
+	CommandCache.h \
 	CommandCrc.h \
 	CommandCStruct.h \
 	CommandConfig.h \

tool/MasterDevice.cpp

@@ -500,6 +500,17 @@ void MasterDevice::rescan()
 
 /****************************************************************************/
 
+void MasterDevice::setSiiCaching(unsigned int fields)
+{
+    if (ioctl(fd, EC_IOCTL_SII_CACHING, fields) < 0) {
+        stringstream err;
+        err << "Failed to set SII caching: " << 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) {

tool/MasterDevice.h

@@ -147,6 +147,7 @@ class MasterDevice
         void writeReg(ec_ioctl_slave_reg_t *);
         void setDebug(unsigned int);
         void rescan();
+        void setSiiCaching(unsigned int);
         void sdoDownload(ec_ioctl_slave_sdo_download_t *);
         void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
         void requestState(uint16_t, uint8_t);

tool/main.cpp

@@ -28,6 +28,7 @@
 using namespace std;
 
 #include "CommandAlias.h"
+#include "CommandCache.h"
 #include "CommandConfig.h"
 #include "CommandCrc.h"
 #include "CommandCStruct.h"
@@ -272,6 +273,7 @@ int main(int argc, char **argv)
     binaryBaseName = basename(argv[0]);
 
     commandList.push_back(new CommandAlias());
+    commandList.push_back(new CommandCache());
     commandList.push_back(new CommandConfig());
     commandList.push_back(new CommandCrc());
     commandList.push_back(new CommandCStruct());