tool/Command.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 29 Mar 2010 15:45:44 +0200
changeset 1888 02aedba35b94
parent 1880 f46bec1b5f21
child 1918 c58633eed20b
permissions -rw-r--r--
Implemented sign-and-magnitude integer types.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *  vim: expandtab
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 *
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 ****************************************************************************/
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#include "Command.h"
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#include "MasterDevice.h"
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#include "NumberListParser.h"
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/*****************************************************************************/
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class MasterIndexParser:
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    public NumberListParser
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{
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    unsigned int getMax()
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    {
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        MasterDevice dev;
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        dev.setIndex(0U);
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        dev.open(MasterDevice::Read);
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        return dev.getMasterCount() - 1;
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    };
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};
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/*****************************************************************************/
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Command::Command(const string &name, const string &briefDesc):
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    name(name),
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    briefDesc(briefDesc),
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    verbosity(Normal)
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{
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}
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/*****************************************************************************/
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Command::~Command()
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{
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}
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/*****************************************************************************/
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void Command::setMasters(const string &m)
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{
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    masters = m;
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};
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/*****************************************************************************/
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void Command::setVerbosity(Verbosity v)
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{
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    verbosity = v;
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};
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/*****************************************************************************/
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void Command::setAlias(int a)
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{
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    alias = a;
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};
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/*****************************************************************************/
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void Command::setPosition(int p)
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{
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    position = p;
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};
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/*****************************************************************************/
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void Command::setDomain(int d)
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{
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    domain = d;
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};
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/*****************************************************************************/
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void Command::setDataType(const string &t)
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{
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    dataType = t;
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};
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/*****************************************************************************/
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void Command::setForce(bool f)
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{
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    force = f;
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};
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/*****************************************************************************/
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void Command::setOutputFile(const string &f)
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{
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    outputFile = f;
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};
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/****************************************************************************/
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bool Command::matchesSubstr(const string &cmd) const
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{
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    return name.substr(0, cmd.length()) == cmd;
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}
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/****************************************************************************/
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bool Command::matchesAbbrev(const string &abb) const
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{
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    unsigned int i;
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    size_t pos = 0;
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    for (i = 0; i < abb.length(); i++) {
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        pos = name.find(abb[i], pos);
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        if (pos == string::npos)
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            return false;
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    }
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    return true;
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}
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/*****************************************************************************/
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string Command::numericInfo()
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{
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    stringstream str;
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    str << "Numerical values can be specified either with decimal (no" << endl
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        << "prefix), octal (prefix '0') or hexadecimal (prefix '0x') base."
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        << endl;
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    return str.str();
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}
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/*****************************************************************************/
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   158
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void Command::throwInvalidUsageException(const stringstream &s) const
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{
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    throw InvalidUsageException(s);
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}
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/*****************************************************************************/
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1834
67fc217d7341 Overloaded throwCommandException().
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   166
void Command::throwCommandException(const string &msg) const
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{
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    throw CommandException(msg);
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}
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67fc217d7341 Overloaded throwCommandException().
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/*****************************************************************************/
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void Command::throwCommandException(const stringstream &s) const
1142
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{
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    throw CommandException(s);
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}
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/*****************************************************************************/
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void Command::throwSingleSlaveRequired(unsigned int size) const
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{
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    stringstream err;
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30714bab3a04 Fixed spacing.
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    err << "The slave selection matches " << size << " slaves. '"
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        << name << "' requires a single slave.";
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   187
    throwInvalidUsageException(err);
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   188
}
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/*****************************************************************************/
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Command::MasterIndexList Command::getMasterIndices() const
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{
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    MasterIndexList indices;
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    try {
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        MasterIndexParser p;
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        indices = p.parse(masters.c_str());
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   199
    } catch (MasterDeviceException &e) {
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        stringstream err;
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   201
        err << "Failed to obtain number of masters: " << e.what();
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        throwCommandException(err);
1869
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   203
    } catch (runtime_error &e) {
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        stringstream err;
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        err << "Invalid master argument '" << masters << "': " << e.what();
1880
f46bec1b5f21 Removed tabs.
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        throwInvalidUsageException(err);
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   207
    }
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    return indices;
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}
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/*****************************************************************************/
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   213
1870
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unsigned int Command::getSingleMasterIndex() const
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{
1880
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    MasterIndexList masterIndices = getMasterIndices();
1870
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   217
    if (masterIndices.size() != 1) {
1880
f46bec1b5f21 Removed tabs.
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   218
        stringstream err;
1870
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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   219
        err << getName() << " requires to select a single master!";
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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   220
        throwInvalidUsageException(err);
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   221
    }
1880
f46bec1b5f21 Removed tabs.
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   222
    return masterIndices.front();
1870
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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   223
}
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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   224
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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   225
/*****************************************************************************/
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   226
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   227
Command::SlaveList Command::selectedSlaves(MasterDevice &m)
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   228
{
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   229
    ec_ioctl_master_t master;
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   230
    unsigned int i, aliasIndex;
1151
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   231
    uint16_t lastAlias;
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   232
    ec_ioctl_slave_t slave;
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   233
    SlaveList list;
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   234
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   235
    m.getMaster(&master);
f02ff486b313 Removed MasterDevice::slaveCount().
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   236
1151
1fc1535dec29 Alias/Position selection.
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   237
    if (alias == -1) { // no alias given
1fc1535dec29 Alias/Position selection.
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   238
        if (position == -1) { // no alias and position given
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   239
            // all items
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   240
            for (i = 0; i < master.slave_count; i++) {
1151
1fc1535dec29 Alias/Position selection.
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   241
                m.getSlave(&slave, i);
1fc1535dec29 Alias/Position selection.
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   242
                list.push_back(slave);
1fc1535dec29 Alias/Position selection.
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diff changeset
   243
            }
1fc1535dec29 Alias/Position selection.
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diff changeset
   244
        } else { // no alias, but position given
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   245
            // one item by position
1fc1535dec29 Alias/Position selection.
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diff changeset
   246
            m.getSlave(&slave, position);
1fc1535dec29 Alias/Position selection.
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diff changeset
   247
            list.push_back(slave);
1fc1535dec29 Alias/Position selection.
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diff changeset
   248
        }
1fc1535dec29 Alias/Position selection.
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diff changeset
   249
    } else { // alias given
1fc1535dec29 Alias/Position selection.
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   250
        if (position == -1) { // alias, but no position given
1fc1535dec29 Alias/Position selection.
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diff changeset
   251
            // take all items with a given alias
1fc1535dec29 Alias/Position selection.
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   252
            lastAlias = 0;
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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diff changeset
   253
            for (i = 0; i < master.slave_count; i++) {
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   254
                m.getSlave(&slave, i);
1fc1535dec29 Alias/Position selection.
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diff changeset
   255
                if (slave.alias) {
1fc1535dec29 Alias/Position selection.
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diff changeset
   256
                    lastAlias = slave.alias;
1fc1535dec29 Alias/Position selection.
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diff changeset
   257
                }
1fc1535dec29 Alias/Position selection.
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diff changeset
   258
                if (lastAlias == (uint16_t) alias) {
1fc1535dec29 Alias/Position selection.
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diff changeset
   259
                    list.push_back(slave);
1fc1535dec29 Alias/Position selection.
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diff changeset
   260
                }
1fc1535dec29 Alias/Position selection.
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diff changeset
   261
            }
1fc1535dec29 Alias/Position selection.
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diff changeset
   262
        } else { // alias and position given
1fc1535dec29 Alias/Position selection.
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diff changeset
   263
            lastAlias = 0;
1fc1535dec29 Alias/Position selection.
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diff changeset
   264
            aliasIndex = 0;
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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diff changeset
   265
            for (i = 0; i < master.slave_count; i++) {
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   266
                m.getSlave(&slave, i);
1159
25cc77cf3993 Improved alias/position addressing in case od duplicated aliases.
Florian Pose <fp@igh-essen.com>
parents: 1157
diff changeset
   267
                if (slave.alias && slave.alias == (uint16_t) alias) {
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   268
                    lastAlias = slave.alias;
1fc1535dec29 Alias/Position selection.
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diff changeset
   269
                    aliasIndex = 0;
1fc1535dec29 Alias/Position selection.
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diff changeset
   270
                }
1159
25cc77cf3993 Improved alias/position addressing in case od duplicated aliases.
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diff changeset
   271
                if (lastAlias && aliasIndex == (unsigned int) position) {
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   272
                    list.push_back(slave);
1fc1535dec29 Alias/Position selection.
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diff changeset
   273
                }
1fc1535dec29 Alias/Position selection.
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diff changeset
   274
                aliasIndex++;
1fc1535dec29 Alias/Position selection.
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diff changeset
   275
            }
1fc1535dec29 Alias/Position selection.
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   276
        }
1fc1535dec29 Alias/Position selection.
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diff changeset
   277
    }
1fc1535dec29 Alias/Position selection.
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diff changeset
   278
1fc1535dec29 Alias/Position selection.
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   279
    return list;
1fc1535dec29 Alias/Position selection.
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   280
}
1fc1535dec29 Alias/Position selection.
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   281
1156
ecaf2a896ea3 Implemented alias and position for configs.
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   282
/*****************************************************************************/
ecaf2a896ea3 Implemented alias and position for configs.
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   283
ecaf2a896ea3 Implemented alias and position for configs.
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   284
bool operator<(
ecaf2a896ea3 Implemented alias and position for configs.
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   285
        const ec_ioctl_config_t &a,
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   286
        const ec_ioctl_config_t &b
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   287
        )
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   288
{
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   289
    return a.alias < b.alias
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   290
        || (a.alias == b.alias && a.position < b.position);
ecaf2a896ea3 Implemented alias and position for configs.
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parents: 1155
diff changeset
   291
}
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   292
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   293
/*****************************************************************************/
ecaf2a896ea3 Implemented alias and position for configs.
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   294
ecaf2a896ea3 Implemented alias and position for configs.
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   295
Command::ConfigList Command::selectedConfigs(MasterDevice &m)
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   296
{
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   297
    unsigned int i;
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   298
    ec_ioctl_master_t master;
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   299
    ec_ioctl_config_t config;
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   300
    ConfigList list;
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   301
    stringstream err;
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   302
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   303
    m.getMaster(&master);
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    if (alias == -1) { // no alias given
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        if (position == -1) { // no alias and position given
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            // all items
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                list.push_back(config);
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            }
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        } else { // no alias, but position given
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                if (!config.alias && config.position == position) {
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                    list.push_back(config);
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                    break; // there can be at most one matching
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                }
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            }
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        }
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    } else { // alias given
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        if (position == -1) { // alias, but no position given
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            // take all items with a given alias
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                if (config.alias == alias) {
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                    list.push_back(config);
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                }
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            }
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        } else { // alias and position given
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                if (config.alias == alias && config.position == position) {
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                    list.push_back(config);
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                    break; // there can be at most one matching
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                }
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            }
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        }
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    }
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    list.sort();
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    return list;
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}
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/****************************************************************************/
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Command::DomainList Command::selectedDomains(MasterDevice &m)
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{
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    ec_ioctl_domain_t d;
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    DomainList list;
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    if (domain == -1) {
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        ec_ioctl_master_t master;
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        unsigned int i;
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        m.getMaster(&master);
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        for (i = 0; i < master.domain_count; i++) {
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            m.getDomain(&d, i);
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            list.push_back(d);
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        }
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   362
    } else {
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        m.getDomain(&d, domain);
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        list.push_back(d);
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   365
    }
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    return list;
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   368
}
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   370
/****************************************************************************/
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   371
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   372
string Command::alStateString(uint8_t state)
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   373
{
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   374
    switch (state) {
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   375
        case 1: return "INIT";
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   376
        case 2: return "PREOP";
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   377
        case 3: return "BOOT";
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   378
        case 4: return "SAFEOP";
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   379
        case 8: return "OP";
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   380
        default: return "???";
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   381
    }
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   382
}
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   383
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   384
/****************************************************************************/