mirror of
https://gitlab.com/etherlab.org/ethercat.git
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151 lines
4.7 KiB
C++
151 lines
4.7 KiB
C++
/*****************************************************************************
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*
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* $Id$
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*
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****************************************************************************/
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "CommandDomains.h"
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/*****************************************************************************/
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CommandDomains::CommandDomains():
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Command("domains", "Show configured domains.")
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{
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}
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/*****************************************************************************/
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string CommandDomains::helpString() const
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{
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stringstream str;
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str << getName() << " [OPTIONS]" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "Without the --verbose option, the domains are displayed" << endl
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<< "one-per-line. Example:" << endl
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<< endl
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<< "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1"
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<< endl << endl
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<< "The domain's base address for the logical datagram" << endl
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<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
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<< "process data size in byte. The last values are the current" << endl
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<< "datagram working counter sum and the expected working" << endl
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<< "counter sum. If the values are equal, all Pdos were exchanged."
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<< endl << endl
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<< "If the --verbose option is given, the participating slave" << endl
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<< "configurations/FMMUs and the current process data are" << endl
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<< "additionally displayed:" << endl
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<< endl
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<< "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1"
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<< endl
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<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
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<< endl
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<< " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
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<< endl
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<< "The process data are displayed as hexadecimal bytes." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --domain -d <index> Positive numerical domain index," << endl
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<< " or 'all' for all domains (default)."
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<< endl
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<< " --verbose -v Show FMMUs and process data" << endl
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<< " in addition." << endl
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<< endl
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<< numericInfo();
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return str.str();
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}
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/****************************************************************************/
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void CommandDomains::execute(MasterDevice &m, const StringVector &args)
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{
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DomainList domains;
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DomainList::const_iterator di;
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m.open(MasterDevice::Read);
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domains = selectedDomains(m);
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for (di = domains.begin(); di != domains.end(); di++) {
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showDomain(m, *di);
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}
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}
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/****************************************************************************/
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void CommandDomains::showDomain(
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MasterDevice &m,
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const ec_ioctl_domain_t &domain
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)
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{
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unsigned char *processData;
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ec_ioctl_domain_data_t data;
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unsigned int i, j;
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ec_ioctl_domain_fmmu_t fmmu;
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unsigned int dataOffset;
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cout << "Domain" << dec << domain.index << ":"
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<< " LogBaseAddr 0x"
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<< hex << setfill('0')
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<< setw(8) << domain.logical_base_address
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<< ", Size " << dec << setfill(' ')
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<< setw(3) << domain.data_size
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<< ", WorkingCounter "
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<< domain.working_counter << "/"
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<< domain.expected_working_counter << endl;
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if (!domain.data_size || getVerbosity() != Verbose)
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return;
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processData = new unsigned char[domain.data_size];
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try {
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m.getData(&data, domain.index, domain.data_size, processData);
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} catch (MasterDeviceException &e) {
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delete [] processData;
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throw e;
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}
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for (i = 0; i < domain.fmmu_count; i++) {
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m.getFmmu(&fmmu, domain.index, i);
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cout << " SlaveConfig "
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<< dec << fmmu.slave_config_alias
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<< ":" << fmmu.slave_config_position
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<< ", SM" << (unsigned int) fmmu.sync_index << " ("
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<< setfill(' ') << setw(6)
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<< (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
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<< "), LogAddr 0x"
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<< hex << setfill('0')
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<< setw(8) << fmmu.logical_address
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<< ", Size " << dec << fmmu.data_size << endl;
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dataOffset = fmmu.logical_address - domain.logical_base_address;
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if (dataOffset + fmmu.data_size > domain.data_size) {
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stringstream err;
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delete [] processData;
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err << "Fmmu information corrupted!";
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throwCommandException(err);
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}
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cout << " " << hex << setfill('0');
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for (j = 0; j < fmmu.data_size; j++) {
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if (j && !(j % BreakAfterBytes))
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cout << endl << " ";
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cout << "0x" << setw(2)
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<< (unsigned int) *(processData + dataOffset + j) << " ";
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}
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cout << endl;
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}
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delete [] processData;
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}
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/*****************************************************************************/
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