diff --git a/TODO b/TODO
index a059431c7ae20a86ab2c720119fedb226ff9792d..53a02a4d1246d00bbd11e62f81fd96428c3af19e 100644
--- a/TODO
+++ b/TODO
@@ -14,13 +14,16 @@ Version 1.4.0:
* Get original driver for r8169.
* Race in jiffies frame timeout?
* ethercat tool:
- - Update help for --alias and --position.
- Show Pdos in 'ethercat slave -v'.
- Accept files from stdin.
- Display attached device's MAC address instead of ff's.
- Data type abbreviations.
- Add a -n (numeric) switch.
- Check for options, remove global variables.
+ - Remove MasterDevice::slaveCount().
+ - Alias index?
+ - Add 'etherlab version'.
+ - Remove 'all' parameter values.
Future issues:
diff --git a/tool/Command.cpp b/tool/Command.cpp
index 459f7b68531dddd00af06d88fb378a21b8cccd4a..d3c9e6bcb2db19b6a1da0e3bacc232040aa0eb93 100644
--- a/tool/Command.cpp
+++ b/tool/Command.cpp
@@ -175,7 +175,6 @@ bool operator<(
Command::ConfigList Command::selectedConfigs(MasterDevice &m)
{
unsigned int i;
- int effAlias;
ec_ioctl_master_t master;
ec_ioctl_config_t config;
ConfigList list;
@@ -183,34 +182,35 @@ Command::ConfigList Command::selectedConfigs(MasterDevice &m)
m.getMaster(&master);
- // Assume alias 0 if only position is given.
- if (alias == -1 && position != -1) {
- effAlias = 0;
- } else {
- effAlias = alias;
- }
-
- if (effAlias == -1) { // no alias given
+ if (alias == -1) { // no alias given
if (position == -1) { // no alias and position given
// all items
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
list.push_back(config);
}
+ } else { // no alias, but position given
+ for (i = 0; i < master.config_count; i++) {
+ m.getConfig(&config, i);
+ if (!config.alias && config.position == position) {
+ list.push_back(config);
+ break; // there can be at most one matching
+ }
+ }
}
} else { // alias given
if (position == -1) { // alias, but no position given
// take all items with a given alias
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
- if (config.alias == effAlias) {
+ if (config.alias == alias) {
list.push_back(config);
}
}
} else { // alias and position given
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
- if (config.alias == effAlias && config.position == position) {
+ if (config.alias == alias && config.position == position) {
list.push_back(config);
break; // there can be at most one matching
}
diff --git a/tool/CommandAlias.cpp b/tool/CommandAlias.cpp
index 21195a990aa4f4fc656ffb4124fb74cf5009b81f..bcacc8284e9b73300423dfb0adbb39b9a0520845 100644
--- a/tool/CommandAlias.cpp
+++ b/tool/CommandAlias.cpp
@@ -33,15 +33,16 @@ string CommandAlias::helpString() const
<< "Arguments:" << endl
<< " ALIAS must be an unsigned 16 bit number. Zero means" << endl
<< " removing an alias address." << endl
- << endl << endl
- << "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position, or 'all'"
<< endl
- << " for all slaves (default). The --force"
+ << "If multiple slaves are selected, the --force option" << endl
+ << "is required." << endl
<< endl
- << " option is required in this case." << endl
- << " --force -f Acknowledge writing aliases of all" << endl
- << " slaves." << endl
+ << "Command-specific options:" << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
+ << " --force -f Acknowledge writing aliases of" << endl
+ << " multiple slaves." << endl
<< endl
<< numericInfo();
@@ -85,6 +86,10 @@ void CommandAlias::execute(MasterDevice &m, const StringVector &args)
throwCommandException(err);
}
+ if (!slaves.size() && getVerbosity() != Quiet) {
+ cerr << "Warning: Selection matches no slaves!" << endl;
+ }
+
for (si = slaves.begin(); si != slaves.end(); si++) {
writeSlaveAlias(m, *si, alias);
}
diff --git a/tool/CommandConfig.cpp b/tool/CommandConfig.cpp
index 133ea5e62f4a64e27fd91ddd49a792e37c9c49e3..9e9465cc52ced2a6f030bd1dafdfb82d24204714 100644
--- a/tool/CommandConfig.cpp
+++ b/tool/CommandConfig.cpp
@@ -43,15 +43,33 @@ string CommandConfig::helpString() const
<< "| | position of the attached" << endl
<< "| | slave, or '-' if none" << endl
<< "| | attached." << endl
- << "| \\- Vendor ID and product code (both" << endl
+ << "| \\- Expected vendor ID and product code (both" << endl
<< "| hexadecimal)." << endl
- << "\\- Alias and relative position (both decimal)." << endl
+ << "\\- Alias address and relative position (both decimal)." << endl
<< endl
<< "With the --verbose option given, the configured Pdos and" << endl
<< "Sdos are output in addition." << endl
+ << endl
+ << "Configuration selection:" << endl
+ << " Slave configurations can be selected with" << endl
+ << " the --alias and --position parameters as follows:" << endl
+ << endl
+ << " 1) If neither the --alias nor the --position option" << endl
+ << " is given, all slave configurations are selected." << endl
+ << " 2) If only the --position option is given, an alias" << endl
+ << " of zero is assumed (see 4))." << endl
+ << " 3) If only the --alias option is given, all slave" << endl
+ << " configurations with the given alias address" << endl
+ << " match." << endl
+ << " 4) If both the --alias and the --position option are" << endl
+ << " given, the specified configuration is matched." << endl
<< endl
<< "Command-specific options:" << endl
- << " --verbose -v Show detailed configurations." << endl;
+ << " --alias -a <alias> Configuration alias (see above)." << endl
+ << " --position -p <pos> Relative position (see above)." << endl
+ << " --verbose -v Show detailed configurations." << endl
+ << endl
+ << numericInfo();
return str.str();
}
diff --git a/tool/CommandDownload.cpp b/tool/CommandDownload.cpp
index 62e63e900464a3247de9a44a7df901eb64b57ca5..1dab9649abe7aa863b742913a8ceb2783bb68387 100644
--- a/tool/CommandDownload.cpp
+++ b/tool/CommandDownload.cpp
@@ -28,6 +28,8 @@ string CommandDownload::helpString() const
str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
<< endl
<< getBriefDescription() << endl
+ << endl
+ << "This command requires a single slave to be selected." << endl
<< endl
<< "The data type of the Sdo entry is taken from the Sdo" << endl
<< "dictionary by default. It can be overridden with the" << endl
@@ -47,9 +49,10 @@ string CommandDownload::helpString() const
<< " to the Sdo entry datatype (see above)." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position" << endl
- << " (mandatory)." << endl
- << " --type -t <type> Sdo entry data type (see above)." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
+ << " --type -t <type> Sdo entry data type (see above)." << endl
<< endl
<< numericInfo();
diff --git a/tool/CommandPdos.cpp b/tool/CommandPdos.cpp
index 24b7bab1c3495aaed06f6619a652e8e79ffbd5b3..0e41196198253c98417414a40d500c2b96dac096 100644
--- a/tool/CommandPdos.cpp
+++ b/tool/CommandPdos.cpp
@@ -55,8 +55,9 @@ string CommandPdos::helpString() const
<< "CoE communication area." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position," << endl
- << " or 'all' for all slaves (default)." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
<< endl
<< numericInfo();
diff --git a/tool/CommandSdos.cpp b/tool/CommandSdos.cpp
index 6dad815b96ce19efb59ee7b6c672a95b07b2d592..1c74d77b86d83e5c4110bde405b20973ad9dc3e3 100644
--- a/tool/CommandSdos.cpp
+++ b/tool/CommandSdos.cpp
@@ -44,10 +44,11 @@ string CommandSdos::helpString() const
<< "If the --quiet option is given, only the Sdos are output."
<< endl << endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position," << endl
- << " or 'all' for all slaves (default)." << endl
- << " --quiet -q Only output Sdos (without the Sdo" << endl
- << " entries)." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
+ << " --quiet -q Only output Sdos (without the" << endl
+ << " Sdo entries)." << endl
<< endl
<< numericInfo();
diff --git a/tool/CommandSiiRead.cpp b/tool/CommandSiiRead.cpp
index 4f6347aea79b3499be96deebd50d35e1df8f0c56..9985fa8adb6582b96be6958784d2e9b539a5f969 100644
--- a/tool/CommandSiiRead.cpp
+++ b/tool/CommandSiiRead.cpp
@@ -28,6 +28,8 @@ string CommandSiiRead::helpString() const
<< endl
<< getBriefDescription() << endl
<< endl
+ << "This command requires a single slave to be selected." << endl
+ << endl
<< "Without the --verbose option, binary SII contents are" << endl
<< "output." << endl
<< endl
@@ -36,10 +38,11 @@ string CommandSiiRead::helpString() const
<< "names." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position" << endl
- << " (mandatory)." << endl
- << " --verbose -v Output textual data with" << endl
- << " category names." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
+ << " --verbose -v Output textual data with" << endl
+ << " category names." << endl
<< endl
<< numericInfo();
diff --git a/tool/CommandSiiWrite.cpp b/tool/CommandSiiWrite.cpp
index 5456513c463ead6d1308798de048552fa7f1aeb9..3913b9ecb9bf115193a09ebf4fed602c274218d5 100644
--- a/tool/CommandSiiWrite.cpp
+++ b/tool/CommandSiiWrite.cpp
@@ -30,6 +30,8 @@ string CommandSiiWrite::helpString() const
<< endl
<< getBriefDescription() << endl
<< endl
+ << "This command requires a single slave to be selected." << endl
+ << endl
<< "The file contents are checked for validity and integrity." << endl
<< "These checks can be overridden with the --force option." << endl
<< endl
@@ -38,9 +40,10 @@ string CommandSiiWrite::helpString() const
<< " positive number of words." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position" << endl
- << " (mandatory)." << endl
- << " --force -f Override validity checks." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
+ << " --force -f Override validity checks." << endl
<< endl
<< numericInfo();
@@ -60,13 +63,6 @@ void CommandSiiWrite::execute(MasterDevice &m, const StringVector &args)
uint16_t categoryType, categorySize;
uint8_t crc;
- slaves = selectedSlaves(m);
-
- if (slaves.size() != 1) {
- throwSingleSlaveRequired(slaves.size());
- }
- data.slave_position = slaves.front().position;
-
if (args.size() != 1) {
err << "'" << getName() << "' takes exactly one argument!";
throwInvalidUsageException(err);
@@ -131,8 +127,14 @@ void CommandSiiWrite::execute(MasterDevice &m, const StringVector &args)
}
}
- // send data to master
m.open(MasterDevice::ReadWrite);
+ slaves = selectedSlaves(m);
+ if (slaves.size() != 1) {
+ throwSingleSlaveRequired(slaves.size());
+ }
+ data.slave_position = slaves.front().position;
+
+ // send data to master
data.offset = 0;
m.writeSii(&data);
}
diff --git a/tool/CommandSlaves.cpp b/tool/CommandSlaves.cpp
index cfd9f81486ffa1e5b42534127eb984db2edc5310..d709990c2726c8c8cad4953c2c5db7aee92cde30 100644
--- a/tool/CommandSlaves.cpp
+++ b/tool/CommandSlaves.cpp
@@ -40,21 +40,39 @@ string CommandSlaves::helpString() const
<< "| | | | 'E' means that scan or" << endl
<< "| | | | configuration failed." << endl
<< "| | | \\- Current application-layer state." << endl
- << "| | \\- Relative position (decimal) after the last" << endl
+ << "| | \\- Decimal relative position to the last" << endl
<< "| | slave with an alias address set." << endl
- << "| \\- Alias address of the slave (if set), or the alias" << endl
- << "| of the last slave with an alias, or zero if not" << endl
- << "| applicable" << endl
- << "\\- Absolute ring position in the bus (use this with any" << endl
- << " --slave option)." << endl
+ << "| \\- Decimal alias address of this slave (if set)," << endl
+ << "| otherwise of the last slave with an alias set," << endl
+ << "| or zero, if no alias was encountered up to this" << endl
+ << "| position." << endl
+ << "\\- Absolute ring position in the bus." << endl
<< endl
<< "If the --verbose option is given, a detailed (multi-line)" << endl
<< "description is output for each slave." << endl
<< endl
+ << "Slave selection:" << endl
+ << " Slaves for this and other commands can be selected with" << endl
+ << " the --alias and --position parameters as follows:" << endl
+ << endl
+ << " 1) If neither the --alias nor the --position option" << endl
+ << " is given, all slaves are selected." << endl
+ << " 2) If only the --position option is given, it is" << endl
+ << " interpreted as an absolute ring position and" << endl
+ << " a slave with this position is matched." << endl
+ << " 3) If only the --alias option is given, all slaves" << endl
+ << " with the given alias address and subsequent" << endl
+ << " slaves before a slave with a different alias" << endl
+ << " address match (use -p0 if only the slaves" << endl
+ << " with the given alias are desired, see 4))." << endl
+ << " 4) If both the --alias and the --position option are" << endl
+ << " given, the latter is interpreted as relative" << endl
+ << " position behind any slave with the given alias." << endl
+ << endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position," << endl
- << " or 'all' for all slaves (default)." << endl
- << " --verbose -v Show detailed slave information." << endl
+ << " --alias -a <alias> Slave alias (see above)." << endl
+ << " --position -p <pos> Slave position (see above)." << endl
+ << " --verbose -v Show detailed slave information." << endl
<< endl
<< numericInfo();
diff --git a/tool/CommandStates.cpp b/tool/CommandStates.cpp
index 515b37a5ea0fc2b1ceb2121d0acf664b37ec433c..248a45da68d064a0bc015afa928c1e8bc6d56eb0 100644
--- a/tool/CommandStates.cpp
+++ b/tool/CommandStates.cpp
@@ -30,8 +30,9 @@ string CommandStates::helpString() const
<< " STATE can be 'INIT', 'PREOP', 'SAFEOP', or 'OP'." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position," << endl
- << " or 'all' for all slaves (default)." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
<< endl
<< numericInfo();
@@ -73,6 +74,10 @@ void CommandStates::execute(MasterDevice &m, const StringVector &args)
m.open(MasterDevice::ReadWrite);
slaves = selectedSlaves(m);
+ if (!slaves.size() && getVerbosity() != Quiet) {
+ cerr << "Warning: Selection matches no slaves!" << endl;
+ }
+
for (si = slaves.begin(); si != slaves.end(); si++) {
m.requestState(si->position, state);
}
diff --git a/tool/CommandUpload.cpp b/tool/CommandUpload.cpp
index 5882f88c14c472ed8a2d011f7c23b7a3e394ef67..a6e1bd3dd245cc1d6bb93341c65491de66ebd6a6 100644
--- a/tool/CommandUpload.cpp
+++ b/tool/CommandUpload.cpp
@@ -29,6 +29,8 @@ string CommandUpload::helpString() const
<< endl
<< getBriefDescription() << endl
<< endl
+ << "This command requires a single slave to be selected." << endl
+ << endl
<< "The data type of the Sdo entry is taken from the Sdo" << endl
<< "dictionary by default. It can be overridden with the" << endl
<< "--type option. If the slave does not support the Sdo" << endl
@@ -45,9 +47,10 @@ string CommandUpload::helpString() const
<< " unsigned 8 bit number." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position" << endl
- << " (mandatory)." << endl
- << " --type -t <type> Sdo entry data type (see above)." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
+ << " --type -t <type> Sdo entry data type (see above)." << endl
<< endl
<< numericInfo();
diff --git a/tool/CommandXml.cpp b/tool/CommandXml.cpp
index 6c815d52a09c60fc4fec8f5188f1e0b0faf3a79d..67e1b46b892d562943bec5145fd887c6d6ee8149 100644
--- a/tool/CommandXml.cpp
+++ b/tool/CommandXml.cpp
@@ -33,8 +33,9 @@ string CommandXml::helpString() const
<< "mapping, the output depends on the last configuration." << endl
<< endl
<< "Command-specific options:" << endl
- << " --slave -s <index> Positive numerical ring position," << endl
- << " or 'all' for all slaves (default)." << endl
+ << " --alias -a <alias>" << endl
+ << " --position -p <pos> Slave selection. See the help of" << endl
+ << " the 'slaves' command." << endl
<< endl
<< numericInfo();