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ethercat
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Show attached slave position and state in 'ethercat config'.

This commit is contained in:
Florian Pose 2008-07-25 08:54:59 +00:00
parent 884f83e29d
commit 95d9d821cc
5 changed files with 59 additions and 32 deletions
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1
TODO
View File

@ -16,7 +16,6 @@ Version 1.4.0:
* ethercat tool:
- Replace --slave by --position.
- Add --alias option.
- Show attached slave position.
- Show Pdos in 'ethercat slave -v'.
- Accept files from stdin.
- Display attached device's MAC address instead of ff's.

4
master/cdev.c
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@ -994,9 +994,7 @@ int ec_cdev_ioctl_config(
ec_pdo_list_count(&sc->sync_configs[i].pdos);
}
data.sdo_count = ec_slave_config_sdo_count(sc);
data.attached = sc->slave != NULL;
data.operational = sc->slave &&
sc->slave->current_state == EC_SLAVE_STATE_OP;
data.slave_position = sc->slave ? sc->slave->ring_position : -1;
up(&master->master_sem);

3
master/ioctl.h
View File

@ -301,8 +301,7 @@ typedef struct {
uint32_t pdo_count;
} syncs[EC_MAX_SYNC_MANAGERS];
uint32_t sdo_count;
uint8_t attached : 1,
operational : 1;
int32_t slave_position;
} ec_ioctl_config_t;
/*****************************************************************************/

77
tool/CommandConfig.cpp
View File

@ -33,11 +33,16 @@ string CommandConfig::helpString() const
<< "Without the --verbose option, slave configurations are" << endl
<< "output one-per-line. Example:" << endl
<< endl
<< "1001:0 0x0000003b/0x02010000 - -" << endl
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl
<< "| | | |" << endl
<< "| | | \\- Slave is operational."
<< endl
<< "| | \\- Slave has been found." << endl
<< "| | | \\- Application-layer" << endl
<< "| | | state of the attached" << endl
<< "| | | slave, or '-', if no" << endl
<< "| | | slave is attached." << endl
<< "| | \\- Absolute decimal ring" << endl
<< "| | position of the attached" << endl
<< "| | slave, or '-' if none" << endl
<< "| | attached." << endl
<< "| \\- Vendor ID and product code (both" << endl
<< "| hexadecimal)." << endl
<< "\\- Alias and relative position (both decimal)." << endl
@ -86,7 +91,7 @@ void CommandConfig::execute(MasterDevice &m, const StringVector &args)
if (getVerbosity() == Verbose) {
showDetailedConfigs(m, configList);
} else {
listConfigs(configList);
listConfigs(m, configList);
}
}
@ -101,6 +106,7 @@ void CommandConfig::showDetailedConfigs(
{
ConfigList::const_iterator configIter;
unsigned int j, k, l;
ec_ioctl_slave_t slave;
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
@ -117,8 +123,15 @@ void CommandConfig::showDetailedConfigs(
<< setw(8) << configIter->vendor_id << endl
<< "Product code: 0x"
<< setw(8) << configIter->product_code << endl
<< "Attached: " << (configIter->attached ? "yes" : "no") << endl
<< "Operational: " << (configIter->operational ? "yes" : "no") << endl;
<< "Attached slave: ";
if (configIter->slave_position != -1) {
m.getSlave(&slave, configIter->slave_position);
cout << configIter->slave_position
<< " (" << alStateString(slave.state) << ")" << endl;
} else {
cout << "none" << endl;
}
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
if (configIter->syncs[j].pdo_count) {
@ -188,7 +201,10 @@ void CommandConfig::showDetailedConfigs(
/** Lists the bus configuration.
*/
void CommandConfig::listConfigs(const ConfigList &configList)
void CommandConfig::listConfigs(
MasterDevice &m,
const ConfigList &configList
)
{
ConfigList::const_iterator configIter;
stringstream str;
@ -197,7 +213,8 @@ void CommandConfig::listConfigs(const ConfigList &configList)
InfoList list;
InfoList::const_iterator iter;
unsigned int maxAliasWidth = 0, maxPosWidth = 0,
maxAttWidth = 0, maxOpWidth = 0;
maxSlavePosWidth = 0, maxStateWidth = 0;
ec_ioctl_slave_t slave;
for (configIter = configList.begin();
configIter != configList.end();
@ -220,15 +237,29 @@ void CommandConfig::listConfigs(const ConfigList &configList)
str.clear();
str.str("");
str << (configIter->attached ? "attached" : "-");
info.att = str.str();
str.clear();
str.str("");
if (configIter->slave_position != -1) {
m.getSlave(&slave, configIter->slave_position);
str << (configIter->operational ? "operational" : "-");
info.op = str.str();
str.clear();
str.str("");
str << configIter->slave_position;
info.slavePos = str.str();
str.clear();
str.str("");
str << alStateString(slave.state);
info.state = str.str();
str.clear();
str.str("");
} else {
str << "-";
info.slavePos = str.str();
str.clear();
str.str("");
str << "-";
info.state = str.str();
str.clear();
str.str("");
}
list.push_back(info);
@ -236,10 +267,10 @@ void CommandConfig::listConfigs(const ConfigList &configList)
maxAliasWidth = info.alias.length();
if (info.pos.length() > maxPosWidth)
maxPosWidth = info.pos.length();
if (info.att.length() > maxAttWidth)
maxAttWidth = info.att.length();
if (info.op.length() > maxOpWidth)
maxOpWidth = info.op.length();
if (info.slavePos.length() > maxSlavePosWidth)
maxSlavePosWidth = info.slavePos.length();
if (info.state.length() > maxStateWidth)
maxStateWidth = info.state.length();
}
for (iter = list.begin(); iter != list.end(); iter++) {
@ -250,8 +281,8 @@ void CommandConfig::listConfigs(const ConfigList &configList)
<< " "
<< iter->ident
<< " "
<< setw(maxAttWidth) << iter->att << " "
<< setw(maxOpWidth) << iter->op << " "
<< setw(maxSlavePosWidth) << iter->slavePos << " "
<< setw(maxStateWidth) << iter->state << " "
<< endl;
}
}

6
tool/CommandConfig.h
View File

@ -28,14 +28,14 @@ class CommandConfig:
string alias;
string pos;
string ident;
string att;
string op;
string slavePos;
string state;
};
typedef list<ec_ioctl_config_t> ConfigList;
void showDetailedConfigs(MasterDevice &, const ConfigList &);
void listConfigs(const ConfigList &);
void listConfigs(MasterDevice &m, const ConfigList &);
};
/****************************************************************************/