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ethercat
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Optionally output CRC diagnosis information in graph.

This commit is contained in:
Florian Pose 2017-03-03 16:49:13 +01:00
parent 4ca05a730d
commit d1376b9444
1 changed files with 106 additions and 22 deletions
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128
tool/CommandGraph.cpp
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@ -29,6 +29,7 @@
#include <iostream>
#include <map>
#include <algorithm>
using namespace std;
#include "CommandGraph.h"
@ -47,7 +48,9 @@ string CommandGraph::helpString(const string &binaryBaseName) const
{
stringstream str;
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
str
<< binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< binaryBaseName << " " << getName() << " [OPTIONS] <INFO>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
@ -58,19 +61,42 @@ string CommandGraph::helpString(const string &binaryBaseName) const
<< endl
<< " ethercat graph | dot -Tsvg > bus.svg" << endl
<< endl
<< "See 'man dot' for more information." << endl;
<< "See 'man dot' for more information." << endl
<< endl
<< "Additional information at edges and nodes is selected via" << endl
<< "the first argument:" << endl
<< " DC - DC timing" << endl
<< " CRC - CRC error register information" << endl
<< endl;
return str.str();
}
/****************************************************************************/
enum Info {
None,
DC,
CRC
};
#define REG_SIZE (20)
struct CrcInfo {
unsigned int crc[EC_MAX_PORTS];
unsigned int phy[EC_MAX_PORTS];
unsigned int fwd[EC_MAX_PORTS];
unsigned int lnk[EC_MAX_PORTS];
};
void CommandGraph::execute(const StringVector &args)
{
Info info = None;
ec_ioctl_master_t master;
unsigned int i;
typedef vector<ec_ioctl_slave_t> SlaveVector;
SlaveVector slaves;
typedef vector<CrcInfo> CrcInfoVector;
CrcInfoVector crcInfos;
ec_ioctl_slave_t slave;
SlaveVector::const_iterator si;
map<int, string> portMedia;
@ -84,19 +110,64 @@ void CommandGraph::execute(const StringVector &args)
portMedia[EC_PORT_EBUS] = "EBUS";
mediaWeights[EC_PORT_EBUS] = 5;
if (args.size()) {
if (args.size() > 1) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
err << "'" << getName() << "' takes either one or no arguments!";
throwInvalidUsageException(err);
}
if (args.size() == 1) {
string arg = args[0];
transform(arg.begin(), arg.end(),
arg.begin(), (int (*) (int)) std::toupper);
if (arg == "DC") {
info = DC;
}
else if (arg == "CRC") {
info = CRC;
}
else {
stringstream err;
err << "Unknown argument \"" << args[0] << "\"!";
throwInvalidUsageException(err);
}
}
MasterDevice m(getSingleMasterIndex());
m.open(MasterDevice::Read);
m.getMaster(&master);
for (i = 0; i < master.slave_count; i++) {
for (unsigned int i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
slaves.push_back(slave);
}
if (info == CRC) {
uint8_t data[REG_SIZE];
ec_ioctl_slave_reg_t io;
io.emergency = 0;
io.address = 0x0300;
io.size = REG_SIZE;
io.data = data;
for (unsigned int i = 0; i < master.slave_count; i++) {
io.slave_position = i;
try {
m.readReg(&io);
} catch (MasterDeviceException &e) {
throw e;
}
CrcInfo crcInfo;
for (int port = 0; port < EC_MAX_PORTS; port++) {
crcInfo.crc[port] = io.data[ 0 + port * 2];
crcInfo.phy[port] = io.data[ 1 + port * 2];
crcInfo.fwd[port] = io.data[ 8 + port];
crcInfo.lnk[port] = io.data[16 + port];
}
crcInfos.push_back(crcInfo);
}
}
cout << "/* EtherCAT bus graph. Generated by 'ethercat graph'. */" << endl
@ -134,7 +205,7 @@ void CommandGraph::execute(const StringVector &args)
<< " / " << alias << ":" << pos;
if (string(si->order).size())
cout << "\\n" << si->order;
if (si->dc_supported) {
if (info == DC && si->dc_supported) {
cout << "\\nDC: ";
if (si->has_dc_system_time) {
switch (si->dc_range) {
@ -154,33 +225,46 @@ void CommandGraph::execute(const StringVector &args)
}
cout << "\"]" << endl;
for (i = 1; i < EC_MAX_PORTS; i++) {
uint16_t next_pos = si->ports[i].next_slave;
ec_ioctl_slave_t *next = NULL;
if (next_pos == 0xffff)
for (int port = 1; port < EC_MAX_PORTS; port++) {
uint16_t next_pos = si->ports[port].next_slave;
if (next_pos == 0xffff) {
continue;
if (next_pos < slaves.size()) {
next = &slaves[next_pos];
} else {
cerr << "Invalid next slave pointer." << endl;
}
if (next_pos >= slaves.size()) {
cerr << "Invalid next slave pointer." << endl;
continue;
}
ec_ioctl_slave_t *next = &slaves[next_pos];
cout << " slave" << si->position << " -- "
<< "slave" << next_pos << " [taillabel=\"" << i;
<< "slave" << next_pos << " [taillabel=\"" << port;
if (si->dc_supported) {
cout << " [" << si->ports[i].delay_to_next_dc << "]";
if (info == DC && si->dc_supported) {
cout << " [" << si->ports[port].delay_to_next_dc << "]";
}
if (info == CRC) {
CrcInfo *crcInfo = &crcInfos[si->position];
cout << " [" << crcInfo->crc[port] << "/"
<< crcInfo->fwd[port] << "]";
}
cout << "\",headlabel=\"0";
if (next && next->dc_supported) {
if (info == DC && next->dc_supported) {
cout << " [" << next->ports[0].delay_to_next_dc << "]";
}
if (info == CRC) {
CrcInfo *crcInfo = &crcInfos[next_pos];
cout << " [" << crcInfo->crc[0] << "/"
<< crcInfo->fwd[0] << "]";
}
cout << "\"";
mi = portMedia.find(si->ports[i].desc);
mi = portMedia.find(si->ports[port].desc);
if (mi == portMedia.end() && next) {
/* Try medium of next-hop slave. */
mi = portMedia.find(next->ports[0].desc);
@ -189,7 +273,7 @@ void CommandGraph::execute(const StringVector &args)
if (mi != portMedia.end())
cout << ",label=\"" << mi->second << "\"";
wi = mediaWeights.find(si->ports[i].desc);
wi = mediaWeights.find(si->ports[port].desc);
if (wi != mediaWeights.end())
cout << ",weight=\"" << wi->second << "\"";