diff --git a/TODO b/TODO
index 93788af5b1ef66083c55be23ad5714005f76642c..519a182e2f55292ef7a1234c4e40b14abde667c9 100644
--- a/TODO
+++ b/TODO
@@ -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.
diff --git a/master/cdev.c b/master/cdev.c
index 5c97a2e535448da241de2f80384890f9fc6fd0fc..b2f2bc399f9b55358c8b788f4c12baaf20034bd2 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -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);
diff --git a/master/ioctl.h b/master/ioctl.h
index f5be8be10294e8775ef057f65b40bf6f0568478e..067181cbac7b0ac2a77d126253e8713465182b2b 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -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;
/*****************************************************************************/
diff --git a/tool/CommandConfig.cpp b/tool/CommandConfig.cpp
index 0e9025ee6aa7c2ad15f55668d529cb53bb78459c..bbadde821b6daf2d05ccb8616c81a1e6d5817047 100644
--- a/tool/CommandConfig.cpp
+++ b/tool/CommandConfig.cpp
@@ -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;
}
}
diff --git a/tool/CommandConfig.h b/tool/CommandConfig.h
index 25a8ab3893c6ab0ef6f3295988d7daaff20f9ab1..beb56a1b03d232d71f788fc1de0ddbb7d960ff6f 100644
--- a/tool/CommandConfig.h
+++ b/tool/CommandConfig.h
@@ -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 &);
};
/****************************************************************************/