EtherLab skin for 'ethercat pdos' command.

tool/Command.cpp

@@ -216,6 +216,13 @@ void Command::setOutputFile(const string &f)
     outputFile = f;
 };
 
+/*****************************************************************************/
+
+void Command::setSkin(const string &s)
+{
+    skin = s;
+};
+
 /****************************************************************************/
 
 bool Command::matchesSubstr(const string &cmd) const

tool/Command.h

@@ -113,6 +113,9 @@ class Command
         void setOutputFile(const string &);
         const string &getOutputFile() const;
 
+        void setSkin(const string &);
+        const string &getSkin() const;
+
         bool matchesSubstr(const string &) const;
         bool matchesAbbrev(const string &) const;
 
@@ -151,6 +154,7 @@ class Command
         string dataType;
         bool force;
         string outputFile;
+        string skin;
 
         Command();
 };
@@ -199,4 +203,11 @@ inline const string &Command::getOutputFile() const
 
 /****************************************************************************/
 
+inline const string &Command::getSkin() const
+{
+    return skin;
+}
+
+/****************************************************************************/
+
 #endif

tool/CommandPdos.cpp

@@ -29,6 +29,7 @@
 
 #include <iostream>
 #include <iomanip>
+#include <cstring>
 using namespace std;
 
 #include "CommandPdos.h"
@@ -51,7 +52,8 @@ string CommandPdos::helpString(const string &binaryBaseName) const
         << endl
         << getBriefDescription() << endl
         << endl
-        << "The information is displayed in three layers, which are" << endl
+        << "For the default skin (see --skin option) the information" << endl
+        << "is displayed in three layers, which are" << endl
         << "indented accordingly:" << endl
         << endl
         << "1) Sync managers - Contains the sync manager information" << endl
@@ -77,10 +79,16 @@ string CommandPdos::helpString(const string &binaryBaseName) const
         << "information can either originate from the SII or from the" << endl
         << "CoE communication area." << endl
         << endl
+        << "The \"etherlab\" skin outputs a template configuration" << endl
+        << "for EtherLab's generic EtherCAT slave block." << endl
+        << endl
         << "Command-specific options:" << endl
         << "  --alias    -a <alias>" << endl
         << "  --position -p <pos>    Slave selection. See the help of" << endl
         << "                         the 'slaves' command." << endl
+        << "  --skin     -s <skin>   Choose output skin. Possible values are"
+        << endl
+        << "                         \"default\" and \"etherlab\"." << endl
         << endl
         << numericInfo();
 
@@ -102,20 +110,41 @@ void CommandPdos::execute(const StringVector &args)
         throwInvalidUsageException(err);
     }
 
-	masterIndices = getMasterIndices();
+    if (getSkin().empty() || getSkin() == "default") {
-    multiMaster = masterIndices.size() > 1;
+        masterIndices = getMasterIndices();
-    MasterIndexList::const_iterator mi;
+        multiMaster = masterIndices.size() > 1;
-    for (mi = masterIndices.begin();
+        MasterIndexList::const_iterator mi;
-            mi != masterIndices.end(); mi++) {
+        for (mi = masterIndices.begin();
-        MasterDevice m(*mi);
+                mi != masterIndices.end(); mi++) {
-        m.open(MasterDevice::Read);
+            MasterDevice m(*mi);
-        slaves = selectedSlaves(m);
+            m.open(MasterDevice::Read);
-        showHeader = multiMaster || slaves.size() > 1;
+            slaves = selectedSlaves(m);
+            showHeader = multiMaster || slaves.size() > 1;
 
-        for (si = slaves.begin(); si != slaves.end(); si++) {
+            for (si = slaves.begin(); si != slaves.end(); si++) {
-            listSlavePdos(m, *si, showHeader);
+                listSlavePdos(m, *si, showHeader);
+            }
         }
     }
+    else if (getSkin() == "etherlab") {
+        masterIndices = getMasterIndices();
+        MasterIndexList::const_iterator mi;
+        for (mi = masterIndices.begin();
+                mi != masterIndices.end(); mi++) {
+            MasterDevice m(*mi);
+            m.open(MasterDevice::Read);
+            slaves = selectedSlaves(m);
+
+            for (si = slaves.begin(); si != slaves.end(); si++) {
+                etherlabConfig(m, *si);
+            }
+        }
+    }
+    else {
+        stringstream err;
+        err << "Invalid skin '" << getSkin() << "'!";
+        throwInvalidUsageException(err);
+    }
 }
 
 /****************************************************************************/
@@ -177,4 +206,111 @@ void CommandPdos::listSlavePdos(
     }
 }
 
+/****************************************************************************/
+
+void CommandPdos::etherlabConfig(
+        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;
+
+    cout << "%" << endl
+        << "% Master " << m.getIndex() << ", Slave " << slave.position;
+    if (strlen(slave.order)) {
+        cout << ", \"" << slave.order << "\"";
+    }
+    cout << endl
+        << "%" << endl
+        << "function rv = slave" << slave.position << "()" << endl << endl;
+
+    cout << "% Slave configuration" << endl << endl;
+
+    cout << "rv.SlaveConfig.vendor = " << slave.vendor_id << ";" << endl
+        << "rv.SlaveConfig.product = hex2dec('"
+        << hex << setfill('0') << setw(8) << slave.product_code << "');"
+        << endl
+        << "rv.SlaveConfig.description = '" << slave.order << "';" << endl
+        << "rv.SlaveConfig.sm = { ..." << endl;
+
+    /* slave configuration */
+    for (i = 0; i < slave.sync_count; i++) {
+        m.getSync(&sync, slave.position, i);
+
+        cout << "    {" << dec << i << ", "
+            << (sync.control_register & 0x04 ? 0 : 1) << ", {" << endl;
+
+        for (j = 0; j < sync.pdo_count; j++) {
+            m.getPdo(&pdo, slave.position, i, j);
+
+            cout << "        {hex2dec('" <<
+                hex << setfill('0') << setw(4) << pdo.index << "'), ["
+                << endl;
+
+            for (k = 0; k < pdo.entry_count; k++) {
+                m.getPdoEntry(&entry, slave.position, i, j, k);
+
+                cout << "            hex2dec('"
+                    << hex << setfill('0') << setw(4) << entry.index
+                    << "'), hex2dec('"
+                    << setw(2) << (unsigned int) entry.subindex
+                    << "'), " << dec << setfill(' ') << setw(3)
+                    << (unsigned int) entry.bit_length
+                    << "; ..." << endl;
+            }
+
+            cout << "            ]}, ..." << endl;
+        }
+        cout << "        }}, ..." << endl;
+    }
+
+    cout << "    };" << endl << endl;
+
+    cout << "% Port configuration" << endl << endl;
+
+    unsigned int input = 1, output = 1;
+    for (i = 0; i < slave.sync_count; i++) {
+        m.getSync(&sync, slave.position, i);
+
+        for (j = 0; j < sync.pdo_count; j++) {
+            m.getPdo(&pdo, slave.position, i, j);
+
+            for (k = 0; k < pdo.entry_count; k++) {
+                m.getPdoEntry(&entry, slave.position, i, j, k);
+
+                if (!entry.index) {
+                    continue;
+                }
+
+                string dir;
+                unsigned int port;
+
+                if (sync.control_register & 0x04) {
+                    dir = "input";
+                    port = input++;
+                }
+                else {
+                    dir = "output";
+                    port = output++;
+                }
+
+                stringstream var;
+                var << "rv.PortConfig." << dir << "(" << dec << port
+                    << ")";
+
+                cout << var.str() << ".pdo = ["
+                    << i << ", " << j << ", " << k << ", 0];" << endl;
+                cout << var.str() << ".pdo_data_type = "
+                    << 1000 + (unsigned int) entry.bit_length
+                    << ";" << endl << endl;
+            }
+        }
+    }
+
+    cout << "end" << endl;
+}
+
 /*****************************************************************************/

tool/CommandPdos.h

@@ -45,6 +45,7 @@ class CommandPdos:
 
     protected:
         void listSlavePdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
+        void etherlabConfig(MasterDevice &, const ec_ioctl_slave_t &);
 };
 
 /****************************************************************************/

tool/main.cpp

@@ -85,6 +85,7 @@ Command::Verbosity verbosity = Command::Normal;
 bool force = false;
 bool helpRequested = false;
 string outputFile;
+string skin;
 
 /*****************************************************************************/
 
@@ -147,6 +148,7 @@ void getOptions(int argc, char **argv)
         {"domain",      required_argument, NULL, 'd'},
         {"type",        required_argument, NULL, 't'},
         {"output-file", required_argument, NULL, 'o'},
+        {"skin",        required_argument, NULL, 's'},
         {"force",       no_argument,       NULL, 'f'},
         {"quiet",       no_argument,       NULL, 'q'},
         {"verbose",     no_argument,       NULL, 'v'},
@@ -155,7 +157,7 @@ void getOptions(int argc, char **argv)
     };
 
     do {
-        c = getopt_long(argc, argv, "m:a:p:d:t:o:fqvh", longOptions, NULL);
+        c = getopt_long(argc, argv, "m:a:p:d:t:o:s:fqvh", longOptions, NULL);
 
         switch (c) {
             case 'm':
@@ -182,6 +184,10 @@ void getOptions(int argc, char **argv)
                 outputFile = optarg;
                 break;
 
+            case 's':
+                skin = optarg;
+                break;
+
             case 'f':
                 force = true;
                 break;
@@ -308,6 +314,7 @@ int main(int argc, char **argv)
                     cmd->setDomains(domains);
                     cmd->setDataType(dataTypeStr);
                     cmd->setOutputFile(outputFile);
+                    cmd->setSkin(skin);
                     cmd->setForce(force);
                     cmd->execute(commandArgs);
                 } catch (InvalidUsageException &e) {