Added 'ethercat graph' command.

NEWS

@@ -34,6 +34,8 @@ Changes since 1.4.0:
   Burgstaller.
 * Clear slave list on link down.
 * Output device link state in 'ethercat master'.
+* Added 'ethercat graph' command which outputs the bus topology in
+  DOT language.
 
 Changes in 1.4.0:
 

tool/CommandGraph.cpp

@@ -0,0 +1,162 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  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
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <map>
+using namespace std;
+
+#include "CommandGraph.h"
+
+/*****************************************************************************/
+
+CommandGraph::CommandGraph():
+    Command("graph", "Output the bus topology as a graph.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandGraph::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS]" << endl
+        << endl
+        << getBriefDescription() << endl
+        << endl
+        << "The bus is output in DOT language (see" << endl
+        << "http://www.graphviz.org/doc/info/lang.html), which can" << endl
+        << "be processed with the tools from the Graphviz" << endl
+        << "package. Example:" << endl
+        << endl
+        << "  ethercat graph | dot -Tsvg > bus.svg" << endl
+        << endl
+        << "See 'man dot' for more information." << endl;
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandGraph::execute(MasterDevice &m, const StringVector &args)
+{
+    ec_ioctl_master_t master;
+    unsigned int i;
+    typedef vector<ec_ioctl_slave_t> SlaveVector;
+    SlaveVector slaves;
+    ec_ioctl_slave_t slave;
+    SlaveVector::const_iterator si;
+    string font("fontname=\"Helvetica\"");
+    map<int, string> portMedia;
+    map<int, string>::const_iterator mi;
+    map<int, int> mediaWeights;
+    map<int, int>::const_iterator wi;
+
+    portMedia[EC_PORT_MII] = "MII";
+    mediaWeights[EC_PORT_MII] = 1;
+
+    portMedia[EC_PORT_EBUS] = "EBUS";
+    mediaWeights[EC_PORT_EBUS] = 5;
+    
+    if (args.size()) {
+        stringstream err;
+        err << "'" << getName() << "' takes no arguments!";
+        throwInvalidUsageException(err);
+    }
+
+    m.open(MasterDevice::Read);
+    m.getMaster(&master);
+
+    for (i = 0; i < master.slave_count; i++) {
+        m.getSlave(&slave, i);
+        slaves.push_back(slave);
+    }
+
+    cout << "/* EtherCAT bus graph. Generated by 'ethercat graph'. */" << endl
+        << endl
+        << "strict graph bus {" << endl
+        << "    rankdir=\"LR\"" << endl
+        << endl
+        << "    master [" << font << ",label=\"EtherCAT\\nMaster\"]" << endl;
+
+    if (slaves.size()) {
+        cout << "    master -- slave0 [" << font;
+
+        mi = portMedia.find(slaves.front().port_descs[0]);
+        if (mi != portMedia.end())
+            cout << ",label=\"" << mi->second << "\"";
+
+        cout << "]" << endl;
+    }
+    cout << endl;
+
+    for (si = slaves.begin(); si != slaves.end(); si++) {
+	    cout << "    slave" << si->position << " [" << font <<
+            ",shape=\"box\",label=\"" << si->position;
+        if (string(si->order).size())
+            cout << "\\n" << si->order;
+        cout << "\"]" << endl;
+
+        for (i = 1; i < EC_MAX_PORTS; i++) {
+            if (si->next_slave[i] == 0xffff)
+                continue;
+
+            cout << "    slave" << si->position << " -- "
+                << "slave" << si->next_slave[i] << " [" << font << ","
+                << "taillabel=\"" << i << "\"";
+
+            mi = portMedia.find(si->port_descs[i]);
+            if (mi == portMedia.end()) {
+                /* Try medium of next-hop slave. */
+                unsigned int pos = si->next_slave[i];
+                if (pos < slaves.size()) {
+                    ec_ioctl_slave_t *next = &slaves[pos];
+                    mi = portMedia.find(next->port_descs[0]);
+                } else {
+                    cerr << "Invalid next slave pointer." << endl;
+                }
+            }
+            
+            if (mi != portMedia.end())
+                cout << ",label=\"" << mi->second << "\"";
+
+            wi = mediaWeights.find(si->port_descs[i]);
+            if (wi != mediaWeights.end())
+                cout << ",weight=\"" << wi->second << "\"";
+            
+            cout << "]" << endl;
+        }
+
+        cout << endl;
+    }
+
+    cout << "}" << endl;
+}
+
+/*****************************************************************************/

tool/CommandGraph.h

@@ -0,0 +1,49 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  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
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#ifndef __COMMANDGRAPH_H__
+#define __COMMANDGRAPH_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandGraph:
+    public Command
+{
+    public:
+        CommandGraph();
+
+        string helpString() const;
+        void execute(MasterDevice &, const StringVector &);
+};
+
+/****************************************************************************/
+
+#endif

tool/Makefile.am

@@ -43,6 +43,7 @@ ethercat_SOURCES = \
 	CommandDownload.cpp \
 	CommandFoeRead.cpp \
 	CommandFoeWrite.cpp \
+	CommandGraph.cpp \
 	CommandMaster.cpp \
 	CommandPdos.cpp \
 	CommandReg.cpp \
@@ -72,6 +73,7 @@ noinst_HEADERS = \
 	CommandDownload.h \
 	CommandFoeRead.h \
 	CommandFoeWrite.h \
+	CommandGraph.h \
 	CommandMaster.h \
 	CommandPdos.h \
 	CommandReg.h \

tool/main.cpp

@@ -43,6 +43,7 @@ using namespace std;
 #include "CommandDownload.h"
 #include "CommandFoeRead.h"
 #include "CommandFoeWrite.h"
+#include "CommandGraph.h"
 #include "CommandMaster.h"
 #include "CommandPdos.h"
 #include "CommandRegRead.h"
@@ -297,6 +298,7 @@ int main(int argc, char **argv)
     commandList.push_back(new CommandDownload());
     commandList.push_back(new CommandFoeRead());
     commandList.push_back(new CommandFoeWrite());
+    commandList.push_back(new CommandGraph());
     commandList.push_back(new CommandMaster());
     commandList.push_back(new CommandPdos());
     commandList.push_back(new CommandRegRead());