United 'ethercat slaves' and 'ethercat list' with a verbose flag.
This commit is contained in:
Florian Pose
parent
be9e9fd07d
commit
5e4ed4b154
205
tools/Master.cpp
205
tools/Master.cpp
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@ -334,97 +334,6 @@ void Master::showDomains(int domainIndex)
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/****************************************************************************/
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struct SlaveInfo {
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string pos;
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string alias;
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string relPos;
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string state;
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string flag;
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string name;
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};
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void Master::listSlaves()
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{
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unsigned int numSlaves, i;
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ec_ioctl_slave_t slave;
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uint16_t lastAlias, aliasIndex;
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SlaveInfo slaveInfo;
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typedef list<SlaveInfo> SlaveInfoList;
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SlaveInfoList slaveInfoList;
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SlaveInfoList::const_iterator iter;
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stringstream str;
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unsigned int maxPosWidth = 0, maxAliasWidth = 0,
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maxRelPosWidth = 0, maxStateWidth = 0;
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open(Read);
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numSlaves = slaveCount();
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lastAlias = 0;
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aliasIndex = 0;
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for (i = 0; i < numSlaves; i++) {
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getSlave(&slave, i);
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str << dec << i;
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slaveInfo.pos = str.str();
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str.clear();
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str.str("");
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if (slave.alias) {
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lastAlias = slave.alias;
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aliasIndex = 0;
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}
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if (lastAlias) {
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str << "#" << hex << lastAlias;
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slaveInfo.alias = str.str();
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str.str("");
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str << ":" << dec << aliasIndex;
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slaveInfo.relPos = str.str();
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str.str("");
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aliasIndex++;
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} else {
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slaveInfo.alias = "";
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slaveInfo.relPos = "";
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}
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slaveInfo.state = slaveState(slave.state);
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slaveInfo.flag = (slave.error_flag ? 'E' : '+');
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if (strlen(slave.name)) {
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slaveInfo.name = slave.name;
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} else {
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str << hex << setfill('0')
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<< setw(8) << slave.vendor_id << ":"
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<< setw(8) << slave.product_code;
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slaveInfo.name = str.str();
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str.str("");
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}
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slaveInfoList.push_back(slaveInfo);
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if (slaveInfo.pos.length() > maxPosWidth)
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maxPosWidth = slaveInfo.pos.length();
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if (slaveInfo.alias.length() > maxAliasWidth)
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maxAliasWidth = slaveInfo.alias.length();
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if (slaveInfo.relPos.length() > maxRelPosWidth)
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maxRelPosWidth = slaveInfo.relPos.length();
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if (slaveInfo.state.length() > maxStateWidth)
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maxStateWidth = slaveInfo.state.length();
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}
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for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
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cout << setfill(' ') << right
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<< setw(maxPosWidth) << iter->pos << " "
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<< setw(maxAliasWidth) << iter->alias
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<< left
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<< setw(maxRelPosWidth) << iter->relPos << " "
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<< setw(maxStateWidth) << iter->state << " "
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<< iter->flag << " "
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<< iter->name << endl;
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}
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}
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/****************************************************************************/
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void Master::showMaster()
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{
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ec_ioctl_master_t data;
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@ -821,18 +730,22 @@ void Master::sdoUpload(
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/****************************************************************************/
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void Master::showSlaves(int slavePosition)
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void Master::showSlaves(int slavePosition, bool verbose)
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{
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open(Read);
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if (slavePosition == -1) {
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unsigned int numSlaves = slaveCount(), i;
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if (verbose) {
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if (slavePosition == -1) {
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unsigned int numSlaves = slaveCount(), i;
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for (i = 0; i < numSlaves; i++) {
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showSlave(i);
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for (i = 0; i < numSlaves; i++) {
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showSlave(i);
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}
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} else {
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showSlave(slavePosition);
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}
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} else {
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showSlave(slavePosition);
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listSlaves(slavePosition);
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}
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}
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@ -1325,6 +1238,104 @@ void Master::listSlaveSdos(
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/****************************************************************************/
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struct SlaveInfo {
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string pos;
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string alias;
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string relPos;
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string state;
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string flag;
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string name;
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};
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void Master::listSlaves(int slavePosition)
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{
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unsigned int numSlaves, i;
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ec_ioctl_slave_t slave;
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uint16_t lastAlias, aliasIndex;
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SlaveInfo slaveInfo;
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typedef list<SlaveInfo> SlaveInfoList;
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SlaveInfoList slaveInfoList;
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SlaveInfoList::const_iterator iter;
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stringstream str;
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unsigned int maxPosWidth = 0, maxAliasWidth = 0,
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maxRelPosWidth = 0, maxStateWidth = 0;
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open(Read);
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numSlaves = slaveCount();
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lastAlias = 0;
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aliasIndex = 0;
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for (i = 0; i < numSlaves; i++) {
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getSlave(&slave, i);
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if (slave.alias) {
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lastAlias = slave.alias;
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aliasIndex = 0;
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}
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if (slavePosition == -1 || i == slavePosition) {
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str << dec << i;
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slaveInfo.pos = str.str();
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str.clear();
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str.str("");
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if (lastAlias) {
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str << "#" << hex << lastAlias;
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slaveInfo.alias = str.str();
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str.str("");
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str << ":" << dec << aliasIndex;
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slaveInfo.relPos = str.str();
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str.str("");
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} else {
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slaveInfo.alias = "";
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slaveInfo.relPos = "";
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}
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slaveInfo.state = slaveState(slave.state);
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slaveInfo.flag = (slave.error_flag ? 'E' : '+');
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if (strlen(slave.name)) {
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slaveInfo.name = slave.name;
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} else {
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str << hex << setfill('0')
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<< setw(8) << slave.vendor_id << ":"
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<< setw(8) << slave.product_code;
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slaveInfo.name = str.str();
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str.str("");
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}
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slaveInfoList.push_back(slaveInfo);
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if (slaveInfo.pos.length() > maxPosWidth)
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maxPosWidth = slaveInfo.pos.length();
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if (slaveInfo.alias.length() > maxAliasWidth)
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maxAliasWidth = slaveInfo.alias.length();
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if (slaveInfo.relPos.length() > maxRelPosWidth)
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maxRelPosWidth = slaveInfo.relPos.length();
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if (slaveInfo.state.length() > maxStateWidth)
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maxStateWidth = slaveInfo.state.length();
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}
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if (lastAlias)
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aliasIndex++;
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}
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for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
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cout << setfill(' ') << right
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<< setw(maxPosWidth) << iter->pos << " "
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<< setw(maxAliasWidth) << iter->alias
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<< left
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<< setw(maxRelPosWidth) << iter->relPos << " "
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<< setw(maxStateWidth) << iter->state << " "
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<< iter->flag << " "
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<< iter->name << endl;
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}
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}
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/****************************************************************************/
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void Master::showSlave(uint16_t slavePosition)
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{
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ec_ioctl_slave_t slave;
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@ -47,13 +47,12 @@ class Master
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void outputData(int);
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void setDebug(const vector<string> &);
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void showDomains(int);
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void listSlaves();
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void showMaster();
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void listPdos(int, bool = false);
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void listSdos(int, bool = false);
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void sdoDownload(int, const string &, const vector<string> &);
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void sdoUpload(int, const string &, const vector<string> &);
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void showSlaves(int);
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void showSlaves(int, bool);
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void siiRead(int);
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void siiWrite(int, bool, const vector<string> &);
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void requestStates(int, const vector<string> &);
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@ -69,6 +68,7 @@ class Master
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void showDomain(unsigned int);
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void listSlavePdos(uint16_t, bool = false, bool = false);
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void listSlaveSdos(uint16_t, bool = false, bool = false);
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void listSlaves(int);
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void showSlave(uint16_t);
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void generateSlaveXml(uint16_t);
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unsigned int slaveCount();
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@ -23,6 +23,7 @@ static int domainIndex = -1;
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static string command;
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vector<string> commandArgs;
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static bool quiet = false;
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static bool verbose = false;
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string dataTypeStr;
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bool force = false;
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@ -33,22 +34,21 @@ void printUsage()
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cerr
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<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl
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<< "Commands:" << endl
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<< " alias Write alias address(es)." << endl
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<< " config Show slave configurations." << endl
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<< " data Output binary domain process data." << endl
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<< " debug Set the master debug level." << endl
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<< " domain Show domain information." << endl
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<< " list (ls) List all slaves (former 'lsec')." << endl
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<< " master Show master information." << endl
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<< " pdos List Pdo mapping." << endl
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<< " sdos List Sdo dictionaries." << endl
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<< " sdo_download (sd) Write an Sdo entry." << endl
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<< " sdo_upload (su) Read an Sdo entry." << endl
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<< " slave Show slave information." << endl
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<< " sii_read (sr) Output a slave's SII contents." << endl
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<< " sii_write (sw) Write slave's SII contents." << endl
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<< " state Request slave states." << endl
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<< " xml Generate slave information xmls." << endl
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<< " alias Write alias addresses." << endl
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<< " config Show bus configuration." << endl
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<< " data Output binary domain process data." << endl
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<< " debug Set the master's debug level." << endl
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<< " domain Show domain information." << endl
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<< " master Show master information." << endl
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<< " pdos List Pdo assignment/mapping." << endl
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<< " sdo_download Write an Sdo entry." << endl
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<< " sdos List Sdo dictionaries." << endl
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<< " sdo_upload Read an Sdo entry." << endl
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<< " sii_read Output a slave's SII contents." << endl
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<< " sii_write Write slave's SII contents." << endl
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<< " slaves Show slaves." << endl
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<< " state Request slave states." << endl
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<< " xml Generate slave information xmls." << endl
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<< "Global options:" << endl
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<< " --master -m <master> Index of the master to use. Default: "
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<< DEFAULT_MASTER << endl
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@ -62,7 +62,8 @@ void printUsage()
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<< endl
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<< " --type -t <type> Forced Sdo data type." << endl
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<< " --force -f Force action." << endl
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<< " --quiet -q Show less output." << endl
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<< " --quiet -q Output less information." << endl
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<< " --verbose -v Output more information." << endl
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<< " --help -h Show this help." << endl;
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}
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@ -74,19 +75,20 @@ void getOptions(int argc, char **argv)
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char *remainder;
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static struct option longOptions[] = {
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//name, has_arg, flag, val
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{"master", required_argument, NULL, 'm'},
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{"slave", required_argument, NULL, 's'},
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{"domain", required_argument, NULL, 'd'},
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{"type", required_argument, NULL, 't'},
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{"force", no_argument, NULL, 'f'},
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{"quiet", no_argument, NULL, 'q'},
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{"help", no_argument, NULL, 'h'},
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//name, has_arg, flag, val
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{"master", required_argument, NULL, 'm'},
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{"slave", required_argument, NULL, 's'},
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{"domain", required_argument, NULL, 'd'},
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{"type", required_argument, NULL, 't'},
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{"force", no_argument, NULL, 'f'},
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{"quiet", no_argument, NULL, 'q'},
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{"verbose", no_argument, NULL, 'v'},
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{"help", no_argument, NULL, 'h'},
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{}
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};
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do {
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c = getopt_long(argc, argv, "m:s:d:t:fqh", longOptions, &optionIndex);
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c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
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switch (c) {
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case 'm':
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@ -140,6 +142,12 @@ void getOptions(int argc, char **argv)
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case 'q':
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quiet = true;
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verbose = false;
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break;
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case 'v':
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verbose = true;
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quiet = false;
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break;
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case 'h':
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@ -187,8 +195,6 @@ int main(int argc, char **argv)
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master.setDebug(commandArgs);
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} else if (command == "domain") {
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master.showDomains(domainIndex);
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} else if (command == "list" || command == "ls") {
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master.listSlaves();
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} else if (command == "master") {
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master.showMaster();
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} else if (command == "pdos") {
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@ -199,8 +205,9 @@ int main(int argc, char **argv)
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master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
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} else if (command == "sdo_upload" || command == "su") {
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master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
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} else if (command == "slave") {
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master.showSlaves(slavePosition);
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} else if (command == "slave" || command == "slaves"
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|| command == "list" || command == "ls") {
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master.showSlaves(slavePosition, verbose);
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} else if (command == "sii_read" || command == "sr") {
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master.siiRead(slavePosition);
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} else if (command == "sii_write" || command == "sw") {
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