--- a/configure	Fri Jul 10 11:41:00 2009 +0200
+++ b/configure	Wed Jul 15 09:32:35 2009 +0200
@@ -767,6 +767,7 @@
 
 elif [ "$SUB_TARGET" = "unix" ]; then
 	MAKEFILES=$MAKEFILES\
+\	examples/CANOpenShell/Makefile.in\
 \	examples/TestMasterSlave/Makefile.in\
 \	examples/TestMasterSlaveLSS/Makefile.in\
 \	examples/SillySlave/Makefile.in\
@@ -775,6 +776,7 @@
 
 if [ "$SUB_TARGET" = "win32" ]; then
 	MAKEFILES=$MAKEFILES\
+\	examples/CANOpenShell/Makefile.in\
 \	examples/TestMasterSlave/Makefile.in\
 \	examples/TestMasterSlaveLSS/Makefile.in\
 \	examples/SillySlave/Makefile.in\

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/CANOpenShell/CANOpenShell.c	Wed Jul 15 09:32:35 2009 +0200
@@ -0,0 +1,487 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+
+#if defined(WIN32) && !defined(__CYGWIN__)
+	#include <windows.h>
+	#define CLEARSCREEN "cls"
+	#define SLEEP(time) Sleep(time * 1000)
+#else
+	#include <unistd.h>
+	#include <stdio.h>
+	#include <string.h>
+	#include <stdlib.h>
+	#include <signal.h>
+	#define CLEARSCREEN "clear"
+	#define SLEEP(time) sleep(time)
+#endif
+
+//****************************************************************************
+// INCLUDES
+#include "canfestival.h"
+#include "CANOpenShell.h"
+#include "CANOpenShellMasterOD.h"
+#include "CANOpenShellSlaveOD.h"
+
+//****************************************************************************
+// DEFINES
+#define MAX_NODES 127
+#define cst_str4(c1, c2, c3, c4) ((((unsigned int)0 | \
+                                    (char)c4 << 8) | \
+                                   (char)c3) << 8 | \
+                                  (char)c2) << 8 | \
+                                 (char)c1
+
+#define INIT_ERR 2
+#define QUIT 1
+
+//****************************************************************************
+// GLOBALS
+char BoardBusName[11];
+char BoardBaudRate[5];
+s_BOARD Board = {BoardBusName, BoardBaudRate};
+CO_Data* CANOpenShellOD_Data;
+int init_step = 0;
+char LibraryPath[512];
+
+/*****************************************************************************/
+#if !defined(WIN32) || defined(__CYGWIN__)
+void catch_signal(int sig)
+{
+	signal(SIGTERM, catch_signal);
+	signal(SIGINT, catch_signal);
+	printf("Got Signal %d\n",sig);
+}
+#endif
+
+/* Sleep for n seconds */
+void SleepFunction(int second)
+{
+	SLEEP(second);
+}
+
+/* Ask a slave node to go in operational mode */
+void StartNode(CO_Data* d, UNS8 nodeid)
+{
+	EnterMutex();
+	masterSendNMTstateChange(d, nodeid, NMT_Start_Node);
+	LeaveMutex();
+}
+
+/* Ask a slave node to go in pre-operational mode */
+void StopNode(CO_Data* d, UNS8 nodeid)
+{
+	EnterMutex();
+	masterSendNMTstateChange(d, nodeid, NMT_Stop_Node);
+	LeaveMutex();
+}
+
+/* Ask a slave node to reset */
+void ResetNode(CO_Data* d, UNS8 nodeid)
+{
+	EnterMutex();
+	masterSendNMTstateChange(d, nodeid, NMT_Reset_Node);
+	LeaveMutex();
+}
+
+/* Reset all nodes on the network and print message when boot-up*/
+void DiscoverNodes(CO_Data* d)
+{
+	printf("Wait for Slave nodes bootup...\n\n");
+	ResetNode(CANOpenShellOD_Data, 0x0);
+}
+
+/* Callback function that check the read SDO demand */
+void CheckReadInfoSDO(CO_Data* d, UNS8 nodeid)
+{
+	UNS32 abortCode;
+	UNS32 data;
+	UNS32 size=64;
+
+	if(getReadResultNetworkDict(d, nodeid, &data, &size, &abortCode) != SDO_FINISHED)
+		printf("Master : Failed in getting information for slave %2.2x, AbortCode :%4.4x \n", nodeid, abortCode);
+
+	/* Finalise last SDO transfer with this node */
+	closeSDOtransfer(CANOpenShellOD_Data, nodeid, SDO_CLIENT);
+
+	/* Display data received */
+	switch(init_step)
+	{
+		case 1:
+				printf("Device type     : %x\n", data);
+				break;
+		case 2:
+				printf("Vendor ID       : %x\n", data);
+				break;
+		case 3:
+				printf("Product Code    : %x\n", data);
+				break;
+		case 4:
+				printf("Revision Number : %x\n", data);
+				break;
+	}
+	GetSlaveNodeInfo(d, nodeid);
+}
+
+/* Retrieve node informations located at index 0x1000 (Device Type) and 0x1018 (Identity) */
+void GetSlaveNodeInfo(CO_Data* d, UNS8 nodeid)
+{
+		switch(++init_step)
+		{
+			case 1: /* Get device type */
+				printf("##################################\n");
+				printf("#### Informations for node %x ####\n", nodeid);
+				printf("##################################\n");
+				readNetworkDictCallback(d, nodeid, 0x1000, 0x00, 0, CheckReadInfoSDO);
+				break;
+
+			case 2: /* Get Vendor ID */
+				readNetworkDictCallback(d, nodeid, 0x1018, 0x01, 0, CheckReadInfoSDO);
+				break;
+
+			case 3: /* Get Product Code */
+				readNetworkDictCallback(d, nodeid, 0x1018, 0x02, 0, CheckReadInfoSDO);
+				break;
+
+			case 4: /* Get Revision Number */
+				readNetworkDictCallback(d, nodeid, 0x1018, 0x03, 0, CheckReadInfoSDO);
+				break;
+
+			case 5: /* Print node info */
+				init_step = 0;
+		}
+}
+
+/* Callback function that check the read SDO demand */
+void CheckReadSDO(CO_Data* d, UNS8 nodeid)
+{
+	UNS32 abortCode;
+	UNS32 data;
+	UNS32 size=64;
+
+	if(getReadResultNetworkDict(d, nodeid, &data, &size, &abortCode) != SDO_FINISHED)
+		printf("\nResult : Failed in getting information for slave %2.2x, AbortCode :%4.4x \n", nodeid, abortCode);
+	else
+		printf("\nResult : = %x\n", data);
+
+	/* Finalise last SDO transfer with this node */
+	closeSDOtransfer(CANOpenShellOD_Data, nodeid, SDO_CLIENT);
+}
+
+/* Read a slave node object dictionary entry */
+void ReadDeviceEntry(CO_Data* d, char* sdo)
+{
+	int nodeid;
+	int index;
+	int subindex;
+	int size;
+	int datatype = 0;
+
+	sscanf(sdo, "%2x%4x%2x", &nodeid, &index, &subindex);
+
+	printf("##################################\n");
+	printf("#### Read SDO                 ####\n");
+	printf("##################################\n");
+	printf("NodeId   : %2.2x\n", nodeid);
+	printf("Index    : %4.4x\n", index);
+	printf("SubIndex : %2.2x\n", subindex);
+
+	readNetworkDictCallback(d, (UNS8)nodeid, (UNS16)index, (UNS8)subindex, (UNS8)datatype, CheckReadSDO);
+}
+
+/* Callback function that check the write SDO demand */
+void CheckWriteSDO(CO_Data* d, UNS8 nodeid)
+{
+	UNS32 abortCode;
+
+	if(getWriteResultNetworkDict(d, nodeid, &abortCode) != SDO_FINISHED)
+		printf("\nResult : Failed in getting information for slave %2.2x, AbortCode :%4.4x \n", nodeid, abortCode);
+	else
+		printf("\nSend data OK\n");
+
+	/* Finalise last SDO transfer with this node */
+	closeSDOtransfer(CANOpenShellOD_Data, nodeid, SDO_CLIENT);
+}
+
+/* Write a slave node object dictionnary entry */
+void WriteDeviceEntry(CO_Data* d, char* sdo)
+{
+	int nodeid;
+	int index;
+	int subindex;
+	int size;
+	int data;
+
+	sscanf(sdo, "%2x%4x%2x%2x%4x", &nodeid , &index, &subindex, &size, &data);
+
+	printf("##################################\n");
+	printf("#### Write SDO                ####\n");
+	printf("##################################\n");
+	printf("NodeId   : %2.2x\n", nodeid);
+	printf("Index    : %4.4x\n", index);
+	printf("SubIndex : %2.2x\n", subindex);
+	printf("Size     : %2.2x\n", size);
+	printf("Data     : %x\n", data);
+
+	writeNetworkDictCallBackAI(d, nodeid, index, subindex, size, 0, &data, CheckWriteSDO, 1);
+}
+
+void CANOpenShellOD_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
+{
+	printf("Slave %x boot up\n", nodeid);
+}
+
+/***************************  CALLBACK FUNCTIONS  *****************************************/
+void CANOpenShellOD_initialisation(CO_Data* d)
+{
+	//printf("Master_initialisation\n");
+}
+
+void CANOpenShellOD_preOperational(CO_Data* d)
+{
+	//printf("Master_preOperational\n");
+}
+
+void CANOpenShellOD_operational(CO_Data* d)
+{
+	//printf("Master_operational\n");
+}
+
+void CANOpenShellOD_stopped(CO_Data* d)
+{
+	//printf("Master_stopped\n");
+}
+
+void CANOpenShellOD_post_sync(CO_Data* d)
+{
+	//printf("Master_post_sync\n");
+}
+
+void CANOpenShellOD_post_TPDO(CO_Data* d)
+{
+	//printf("Master_post_TPDO\n");
+}
+
+/***************************  MASTER INITIALISATION **********************************/
+void Init(CO_Data* d, UNS32 nodeid)
+{
+	if(Board.baudrate)
+	{
+		/* Defining the node Id */
+		setNodeId(CANOpenShellOD_Data, nodeid);
+
+		/* Init */
+		setState(CANOpenShellOD_Data, Initialisation);
+	}
+}
+
+/***************************  MASTER CLEANUP  *****************************************/
+void Exit(CO_Data* d, UNS32 nodeid)
+{
+	if(strcmp(Board.baudrate, "none"))
+	{
+		/* Reset all nodes on the network */
+		masterSendNMTstateChange(CANOpenShellOD_Data, (UNS8)nodeid, NMT_Reset_Node);
+
+		/* Stop master */
+		setState(CANOpenShellOD_Data, Stopped);
+	}
+}
+
+int ExtractNodeId(char *command) {
+	int nodeid;
+	sscanf(command, "%2x", &nodeid);
+	return nodeid;
+}
+
+int NodeInit(CO_Data* d, int DeviceNodeID, int DeviceIsMaster)
+{
+	if(DeviceIsMaster)
+	{
+		CANOpenShellOD_Data = &CANOpenShellMasterOD_Data;
+	}
+	else
+	{
+		CANOpenShellOD_Data = &CANOpenShellSlaveOD_Data;
+	}
+
+	/* Load can library */
+	LoadCanDriver(LibraryPath);
+
+	/* Init stack timer */
+	TimerInit();
+
+	/* Define callback functions */
+	CANOpenShellOD_Data->initialisation = CANOpenShellOD_initialisation;
+	CANOpenShellOD_Data->preOperational = CANOpenShellOD_preOperational;
+	CANOpenShellOD_Data->operational = CANOpenShellOD_operational;
+	CANOpenShellOD_Data->stopped = CANOpenShellOD_stopped;
+	CANOpenShellOD_Data->post_sync = CANOpenShellOD_post_sync;
+	CANOpenShellOD_Data->post_TPDO = CANOpenShellOD_post_TPDO;
+	CANOpenShellOD_Data->post_SlaveBootup=CANOpenShellOD_post_SlaveBootup;
+
+	/* Open the Peak CANOpen device */
+	if(!canOpen(&Board,CANOpenShellOD_Data)) return 1;
+
+	/* Start Timer thread */
+	StartTimerLoop(&Init);
+	return 0;
+}
+
+void help_menu(void)
+{
+	printf("   MANDATORY COMMAND (must be the first command):\n");
+	printf("      load#Can library path,channel,baudrate,device nodeid,device type (m for master, s for slave)\n");
+	printf("\n");
+	printf("   NETWORK: (if nodeid=0x00 : broadcast)\n");
+	printf("     ssta#[nodeid] : Start a node\n");
+	printf("     ssto#[nodeid] : Stop a node\n");
+	printf("     srst#[nodeid] : Reset a node\n");
+	printf("     scan : Reset all nodes and print message when bootup\n");
+	printf("     wait#[seconds] : Sleep for n seconds\n");
+	printf("\n");
+	printf("   SDO: (size parameter : nb BYTES)\n");
+	printf("     info#[nodeid]\n");
+	printf("     rsdo#[nodeid][index][subindex] : read sdo\n");
+	printf("     wsdo#[nodeid][index][subindex][size][data] : write sdo\n");
+	printf("\n");
+	printf("     help : Display this menu\n");
+	printf("     quit : Quit application\n");
+	printf("\n");
+	printf("\n");
+}
+
+int ProcessCommand(char* command)
+{
+	int ret = 0;
+	int sec = 0;
+	int DeviceNodeID;
+	int DeviceType;
+
+	switch(cst_str4(command[0], command[1], command[2], command[3]))
+	{
+		case cst_str4('l', 'o', 'a', 'd') : /* Library Interface*/
+					ret = sscanf(command, "load#%100[^,],%10[^,],%4[^,],%d,%d",
+							LibraryPath,
+							BoardBusName,
+							BoardBaudRate,
+							&DeviceNodeID,
+							&DeviceType);
+
+					if(ret == 5)
+					{
+						ret = NodeInit(CANOpenShellOD_Data, DeviceNodeID, DeviceType);
+						return ret;
+					}
+					else{
+						help_menu();
+						exit(1);
+					}
+					break;
+		case cst_str4('h', 'e', 'l', 'p') : /* Display Help*/
+					help_menu();
+					break;
+		case cst_str4('s', 's', 't', 'a') : /* Slave Start*/
+					StartNode(CANOpenShellOD_Data, ExtractNodeId(command + 5));
+					break;
+		case cst_str4('s', 's', 't', 'o') : /* Slave Stop */
+					StopNode(CANOpenShellOD_Data, ExtractNodeId(command + 5));
+					break;
+		case cst_str4('s', 'r', 's', 't') : /* Slave Reset */
+					ResetNode(CANOpenShellOD_Data, ExtractNodeId(command + 5));
+					break;
+		case cst_str4('i', 'n', 'f', 'o') : /* Retrieve node informations */
+					GetSlaveNodeInfo(CANOpenShellOD_Data, ExtractNodeId(command + 5));
+					break;
+		case cst_str4('r', 's', 'd', 'o') : /* Read device entry */
+					ReadDeviceEntry(CANOpenShellOD_Data, command + 5);
+					break;
+		case cst_str4('w', 's', 'd', 'o') : /* Write device entry */
+					WriteDeviceEntry(CANOpenShellOD_Data, command + 5);
+					break;
+		case cst_str4('s', 'c', 'a', 'n') : /* Display master node state */
+					DiscoverNodes(CANOpenShellOD_Data);
+					break;
+		case cst_str4('w', 'a', 'i', 't') : /* Display master node state */
+					ret = sscanf(command, "wait=%d", &sec);
+					if(ret == 1) SleepFunction(sec);
+					break;
+		case cst_str4('q', 'u', 'i', 't') : /* Quit application */
+					return QUIT;
+		default :
+					help_menu();
+	}
+	return 0;
+}
+
+/****************************************************************************/
+/***************************  MAIN  *****************************************/
+/****************************************************************************/
+
+int main(int argc, char** argv)
+{
+	extern char *optarg;
+	char command[20];
+	char* res;
+	int ret=0;
+	int sysret=0;
+	int i=0;
+
+	/* Print help and exit immediatly*/
+	if(argc < 1)
+	{
+		help_menu();
+		exit(1);
+	}
+
+	/* Strip command-line*/
+	for(i=1 ; i<argc ; i++)
+	{
+		if(ProcessCommand(argv[i]) == INIT_ERR) goto init_fail;
+	}
+
+	#if !defined(WIN32) || defined(__CYGWIN__)
+		/* install signal handler for manual break */
+		signal(SIGTERM, catch_signal);
+		signal(SIGINT, catch_signal);
+	#endif
+
+	/* Enter in a loop to read stdin command until "quit" is called */
+	while(ret != QUIT)
+	{
+		// wait on stdin for string command
+		res = fgets(command, sizeof(command), stdin);
+		sysret = system(CLEARSCREEN);
+		ret = ProcessCommand(command);
+		fflush(stdout);
+	}
+
+	printf("Finishing.\n");
+
+	// Stop timer thread
+	StopTimerLoop(&Exit);
+
+init_fail:
+	TimerCleanup();
+	return 0;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/CANOpenShell/CANOpenShell.h	Wed Jul 15 09:32:35 2009 +0200
@@ -0,0 +1,40 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+#ifdef USE_XENO
+#define eprintf(...)
+#else
+#define eprintf(...) printf (__VA_ARGS__)
+#endif
+
+#include "canfestival.h"
+
+void help(void);
+void StartNode(CO_Data*, UNS8);
+void StopNode(CO_Data*, UNS8);
+void ResetNode(CO_Data*, UNS8);
+void DiscoverNodes(CO_Data*);
+void CheckReadInfoSDO(CO_Data*, UNS8);
+void GetSlaveNodeInfo(CO_Data*, UNS8);
+void CheckReadSDO(CO_Data*, UNS8);
+void CheckWriteSDO(CO_Data*, UNS8);
+void ReadDeviceEntry(CO_Data*, char*);
+void WriteDeviceEntry(CO_Data*, char*);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/CANOpenShell/CANOpenShell.vcproj	Wed Jul 15 09:32:35 2009 +0200
@@ -0,0 +1,219 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="CANOpenShell"
+	ProjectGUID="{06B3C378-9EE4-4C56-A519-775FF499DAB5}"
+	RootNamespace="CANOpenShell"
+	Keyword="Win32Proj"
+	TargetFrameworkVersion="196613"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="1"
+			CharacterSet="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\include;..\..\include\win32"
+				PreprocessorDefinitions="WIN32;_DEBUG;_CONSOLE"
+				MinimalRebuild="true"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="3"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="&quot;..\..\lib\static\libcanfestival.lib&quot; &quot;..\..\lib\static\libcanfestival_win32.lib&quot; &quot;..\..\lib\static\libgcc.lib&quot;"
+				LinkIncremental="2"
+				GenerateDebugInformation="false"
+				SubSystem="1"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="1"
+			CharacterSet="1"
+			WholeProgramOptimization="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				EnableIntrinsicFunctions="true"
+				PreprocessorDefinitions="WIN32;NDEBUG;_CONSOLE"
+				RuntimeLibrary="2"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				LinkIncremental="1"
+				GenerateDebugInformation="true"
+				SubSystem="1"
+				OptimizeReferences="2"
+				EnableCOMDATFolding="2"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
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+  </entry>
+  <entry>
+    <key type="numeric" value="8016" />
+    <val type="dict" id="190909676" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="190911884" >
+          <item type="dict" id="190909812" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of different programs supported on the node" />
+            </entry>
+          </item>
+          <item type="dict" id="190909948" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="15" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Program Number %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Download Program Data" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8017" />
+    <val type="dict" id="190910084" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="190912140" >
+          <item type="dict" id="190910220" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of different programs on the node" />
+            </entry>
+          </item>
+          <item type="dict" id="190914604" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Program Number %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
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+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Program Control" />
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+        <key type="string" value="struct" />
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+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Entries" />
+            </entry>
+          </item>
+          <item type="dict" id="190915012" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Application software date" />
+            </entry>
+          </item>
+          <item type="dict" id="190915148" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Application sofware time" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Verify Application Software" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="3" />
+      </entry>
+    </val>
+  </entry>
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+        <val type="list" id="190912652" >
+          <item type="dict" id="190915420" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of different programs on the node" />
+            </entry>
+          </item>
+          <item type="dict" id="190915556" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Program number %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Expected Application SW Date" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="8021" />
+    <val type="dict" id="190915692" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="190912972" >
+          <item type="dict" id="190915828" >
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+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
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+            <entry>
+              <key type="string" value="type" />
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+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of different programs on the node" />
+            </entry>
+          </item>
+          <item type="dict" id="190915964" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Program number %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Expected Application SW Time" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+</attr>
+<attr name="ProfileName" type="string" value="None" />
+<attr name="Type" type="string">master</attr>
+<attr name="ID" type="numeric" value="0" />
+<attr name="Name" type="string">CANOpenShellMasterOD</attr>
+</PyObject>

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/CANOpenShell/CANOpenShellSlaveOD.od	Wed Jul 15 09:32:35 2009 +0200
@@ -0,0 +1,1569 @@
+<?xml version="1.0"?>
+<!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
+<PyObject module="node" class="Node" id="194706956">
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