From 585af1bbea6b41a4de8f599d0948dcacd835901a Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 13 Oct 2020 14:18:59 +0200
Subject: [PATCH] Output debug info
---
.../libraries/ArmarXEtherCAT/EtherCAT.cpp | 34 +++++++++++++++++--
1 file changed, 31 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
index 4722be8e0..d5f96c40a 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp
@@ -31,6 +31,7 @@
#include <ethercatmain.h>
#include <ethercatbase.h>
#include <ArmarXCore/core/util/OnScopeExit.h>
+#include <ArmarXCore/util/CPPUtility/Iterator.h>
//EtherCAT definitions only used for the ethercat stuff
#define SDO_READ_TIMEOUT 100000
@@ -439,18 +440,44 @@ std::pair<std::vector<ControlDevicePtr>, std::vector<SensorDevicePtr>> EtherCAT:
{
throw LocalException("no robot Container set! set a robotContainer before you start the bus!");
}
+ //dump infos about the device container
+ {
+ ARMARX_DEBUG << "device container:\n#functional devices"
+ << deviceContainerPtr->getAllFunctionalDevices().size()
+ << ARMARX_STREAM_PRINTER
+ {
+ const auto devs = deviceContainerPtr->getAllFunctionalDevices();
+ for (const auto& [idx, dev] : MakeIndexedContainer(devs))
+ {
+ out << "\n idx " << idx
+ << " initialized " << dev->isInitialized()
+ << " class: " << dev->getClassName()
+ << "\n cfg nodes:";
+ for (const auto& c : dev->getNode().getChildPaths())
+ {
+ out << "\n " << c;
+ }
+ }
+ };
+ }
+
auto etherCATFactoryNames = EtherCATDeviceFactory::getAvailableClasses();
- ARMARX_INFO << "PPP: " << etherCATFactoryNames;
+ ARMARX_INFO << "etherCATFactoryNames: " << etherCATFactoryNames;
std::map<std::string, std::vector<uint16_t>> devicesOfType;
for (uint16_t currentSlaveIndex = 1; currentSlaveIndex <= ec_slavecount; currentSlaveIndex++)
{
+ ARMARX_TRACE;
const std::string messageSlaveIdentifier = "[Slave index: " + std::to_string(currentSlaveIndex) + "] ";
//DEBUG for EtherCAT HUB
//check the device type to identify the EtherCAT Hub
// uint32 deviceType = ETHTERCAT_HUB_DEVICE_TYPE;
//uint32 vendorID = 0;
- ARMARX_INFO << messageSlaveIdentifier << " device type: " << ec_slave[currentSlaveIndex].Dtype << "\n itype: " << std::hex << ec_slave[currentSlaveIndex].Itype <<
- "\neep_id: " << ec_slave[currentSlaveIndex].eep_id << "\neep_man: " << ec_slave[currentSlaveIndex].eep_man << "\neep_rev: " << ec_slave[currentSlaveIndex].eep_rev;
+ ARMARX_INFO << messageSlaveIdentifier << '\n'
+ << "device type: " << std::hex << "0x" << ec_slave[currentSlaveIndex].Dtype << std::dec << " (dec: " << ec_slave[currentSlaveIndex].Dtype << ")\n"
+ << "itype: " << std::hex << "0x" << ec_slave[currentSlaveIndex].Itype << std::dec << " (dec: " << ec_slave[currentSlaveIndex].Itype << ")\n"
+ << "eep_id: " << std::hex << "0x" << ec_slave[currentSlaveIndex].eep_id << std::dec << " (dec: " << ec_slave[currentSlaveIndex].eep_id << ")\n"
+ << "eep_man: " << std::hex << "0x" << ec_slave[currentSlaveIndex].eep_man << std::dec << " (dec: " << ec_slave[currentSlaveIndex].eep_man << ")\n"
+ << "eep_rev: " << std::hex << "0x" << ec_slave[currentSlaveIndex].eep_rev << std::dec << " (dec: " << ec_slave[currentSlaveIndex].eep_rev << ")\n";
ARMARX_INFO << messageSlaveIdentifier << "CoE details " << (int)(ec_slave[currentSlaveIndex].mbx_proto & ECT_MBXPROT_COE);
bool foundDevice = false;
@@ -460,6 +487,7 @@ std::pair<std::vector<ControlDevicePtr>, std::vector<SensorDevicePtr>> EtherCAT:
{
ARMARX_INFO << "Trying factory " << facName;
auto device = EtherCATDeviceFactory::fromName(facName, std::make_tuple(this, currentSlaveIndex, deviceContainerPtr));
+ ARMARX_INFO << "Device is " << device.get();
if (device)
{
devicesOfType[device->getClassName()].emplace_back(currentSlaveIndex);
--
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