Added 'xml' command to generate a slave description file from a real
slave.
This commit is contained in:
Florian Pose
parent
228772c319
commit
b6cca218db
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@ -165,6 +165,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
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data.vendor_id = slave->sii.vendor_id;
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data.product_code = slave->sii.product_code;
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data.revision_number = slave->sii.revision_number;
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data.serial_number = slave->sii.serial_number;
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data.alias = slave->sii.alias;
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data.state = slave->current_state;
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@ -62,6 +62,8 @@ typedef struct {
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// outputs
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uint32_t vendor_id;
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uint32_t product_code;
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uint32_t revision_number;
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uint32_t serial_number;
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uint16_t alias;
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uint8_t state;
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uint8_t sync_count;
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113
tools/Master.cpp
113
tools/Master.cpp
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@ -112,6 +112,21 @@ void Master::listPdos(int slavePosition)
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/****************************************************************************/
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void Master::generateXml(int slavePosition)
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{
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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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generateSlaveXml(i);
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}
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} else {
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generateSlaveXml(slavePosition);
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}
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}
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/****************************************************************************/
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void Master::listSlavePdos(uint16_t slavePosition, bool printSlave)
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{
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ec_ioctl_slave_t slave;
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@ -162,6 +177,104 @@ void Master::listSlavePdos(uint16_t slavePosition, bool printSlave)
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/****************************************************************************/
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void Master::generateSlaveXml(uint16_t slavePosition)
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{
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ec_ioctl_slave_t slave;
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ec_ioctl_sync_t sync;
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ec_ioctl_pdo_t pdo;
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ec_ioctl_pdo_entry_t entry;
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unsigned int i, j, k;
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getSlave(&slave, slavePosition);
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cout
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<< "<?xml version=\"1.0\" ?>" << endl
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<< " <EtherCATInfo>" << endl
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<< " <!-- Slave " << slave.position << " -->" << endl
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<< " <Vendor>" << endl
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<< " <Id>" << slave.vendor_id << "</Id>" << endl
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<< " </Vendor>" << endl
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<< " <Descriptions>" << endl
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<< " <Devices>" << endl
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<< " <Device>" << endl
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<< " <Type ProductCode=\"#x"
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<< hex << setfill('0') << setw(8) << slave.product_code
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<< "\" RevisionNo=\"#x"
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<< hex << setfill('0') << setw(8) << slave.revision_number
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<< "\"/>" << endl;
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for (i = 0; i < slave.sync_count; i++) {
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getSync(&sync, slavePosition, i);
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for (j = 0; j < sync.pdo_count; j++) {
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getPdo(&pdo, slavePosition, i, j);
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cout
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<< " <" << (pdo.dir ? "T" : "R") << "xPdo>" << endl
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<< " <Index>#x"
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<< hex << setfill('0') << setw(4) << pdo.index
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<< "</Index>" << endl
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<< " <Name>" << pdo.name << "</Name>" << endl;
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for (k = 0; k < pdo.entry_count; k++) {
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getPdoEntry(&entry, slavePosition, i, j, k);
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cout
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<< " <Entry>" << endl
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<< " <Index>#x"
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<< hex << setfill('0') << setw(4) << entry.index
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<< "</Index>" << endl;
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if (entry.index)
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cout
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<< " <SubIndex>"
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<< dec << (unsigned int) entry.subindex
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<< "</SubIndex>" << endl;
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cout
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<< " <BitLen>"
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<< (unsigned int) entry.bit_length
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<< "</BitLen>" << endl;
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if (entry.index) {
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cout
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<< " <Name>" << entry.name
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<< "</Name>" << endl
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<< " <DataType>";
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if (entry.bit_length == 1) {
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cout << "BOOL";
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} else if (!(entry.bit_length % 8)) {
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if (entry.bit_length <= 64)
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cout << "UINT" << (unsigned int) entry.bit_length;
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else
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cout << "STRING("
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<< (unsigned int) (entry.bit_length / 8)
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<< ")";
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} else {
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cerr << "Invalid bit length "
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<< (unsigned int) entry.bit_length << endl;
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}
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cout << "</DataType>" << endl;
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}
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cout << " </Entry>" << endl;
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}
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cout
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<< " </" << (pdo.dir ? "T" : "R") << "xPdo>" << endl;
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}
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}
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cout
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<< " </Device>" << endl
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<< " </Devices>" << endl
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<< " </Descriptions>" << endl
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<< "</EtherCATInfo>" << endl;
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}
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/****************************************************************************/
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unsigned int Master::slaveCount()
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{
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int ret;
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@ -42,9 +42,11 @@ class Master
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void listSlaves();
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void listPdos(int);
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void generateXml(int);
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protected:
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void listSlavePdos(uint16_t, bool = false);
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void generateSlaveXml(uint16_t);
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unsigned int slaveCount();
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void slaveSyncs(uint16_t);
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void getSlave(ec_ioctl_slave_t *, uint16_t);
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@ -31,6 +31,7 @@ void printUsage()
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<< "Commands:" << endl
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<< " list (ls, slaves) List all slaves (former 'lsec')." << endl
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<< " pdos List Pdo mapping of given slaves." << endl
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<< " xml Generate slave information xml." << 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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@ -121,9 +122,10 @@ int main(int argc, char **argv)
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if (command == "list" || command == "ls" || command == "slaves") {
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master.listSlaves();
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} else if (command == "pdos") {
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master.listPdos(slavePosition);
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} else if (command == "xml") {
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master.generateXml(slavePosition);
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} else {
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cerr << "Unknown command " << command << "!" << endl;
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printUsage();
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