tool/CommandXml.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 29 Mar 2010 15:45:44 +0200
changeset 1888 02aedba35b94
parent 1870 0cee1fb7f0fd
child 1890 b64e3791075d
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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 ****************************************************************************/
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#include <iostream>
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#include <iomanip>
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#include <string.h>
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using namespace std;
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#include "CommandXml.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandXml::CommandXml():
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    Command("xml", "Generate slave information XML.")
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{
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}
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/*****************************************************************************/
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string CommandXml::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS]" << endl
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        << endl
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        << getBriefDescription() << endl
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        << endl
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        << "Note that the PDO information can either originate" << endl
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        << "from the SII or from the CoE communication area. For" << endl
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        << "slaves, that support configuring PDO assignment and" << endl
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        << "mapping, the output depends on the last configuration." << endl
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        << endl
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        << "Command-specific options:" << endl
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        << "  --alias    -a <alias>" << endl
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        << "  --position -p <pos>    Slave selection. See the help of" << endl
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        << "                         the 'slaves' command." << endl
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        << endl
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        << numericInfo();
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    return str.str();
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}
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/****************************************************************************/
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void CommandXml::execute(const StringVector &args)
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{
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    SlaveList slaves;
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    SlaveList::const_iterator si;
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    if (args.size()) {
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        stringstream err;
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        err << "'" << getName() << "' takes no arguments!";
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        throwInvalidUsageException(err);
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    }
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    MasterDevice m(getSingleMasterIndex());
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    m.open(MasterDevice::Read);
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    slaves = selectedSlaves(m);
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    cout << "<?xml version=\"1.0\" ?>" << endl;
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    if (slaves.size() > 1) {
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        cout << "<EtherCATInfoList>" << endl;
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    }
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    for (si = slaves.begin(); si != slaves.end(); si++) {
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        generateSlaveXml(m, *si, slaves.size() > 1 ? 1 : 0);
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    }
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    if (slaves.size() > 1) {
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        cout << "</EtherCATInfoList>" << endl;
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    }
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}
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/****************************************************************************/
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void CommandXml::generateSlaveXml(
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        MasterDevice &m,
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        const ec_ioctl_slave_t &slave,
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        unsigned int indent
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        )
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{
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    ec_ioctl_slave_sync_t sync;
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    ec_ioctl_slave_sync_pdo_t pdo;
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    string pdoType, in;
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    ec_ioctl_slave_sync_pdo_entry_t entry;
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    unsigned int i, j, k;
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    for (i = 0; i < indent; i++) {
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        in += "  ";
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    }
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    cout
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        << in << "<EtherCATInfo>" << endl
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        << in << "  <!-- Slave " << slave.position << " -->" << endl
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        << in << "  <Vendor>" << endl
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        << in << "    <Id>" << slave.vendor_id << "</Id>" << endl
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        << in << "  </Vendor>" << endl
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        << in << "  <Descriptions>" << endl
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        << in << "    <Devices>" << endl
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        << in << "      <Device>" << endl
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        << in << "        <Type ProductCode=\"#x"
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        << hex << setfill('0') << setw(8) << slave.product_code
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        << "\" RevisionNo=\"#x"
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        << hex << setfill('0') << setw(8) << slave.revision_number
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        << "\">" << slave.order << "</Type>" << endl;
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    if (strlen(slave.name)) {
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        cout
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            << in << "        <Name><![CDATA["
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            << slave.name
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            << "]]></Name>" << endl;
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    }
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59be91dfcbe1 Redesigned command interface.
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    for (i = 0; i < slave.sync_count; i++) {
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        m.getSync(&sync, slave.position, i);
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   143
59be91dfcbe1 Redesigned command interface.
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        cout
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            << in << "        <Sm Enable=\"" << dec << (unsigned int) sync.enable
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   146
            << "\" StartAddress=\"" << sync.physical_start_address
59be91dfcbe1 Redesigned command interface.
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            << "\" ControlByte=\"" << (unsigned int) sync.control_register
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            << "\" DefaultSize=\"" << sync.default_size
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            << "\" />" << endl;
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    }
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59be91dfcbe1 Redesigned command interface.
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    for (i = 0; i < slave.sync_count; i++) {
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        m.getSync(&sync, slave.position, i);
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   154
59be91dfcbe1 Redesigned command interface.
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        for (j = 0; j < sync.pdo_count; j++) {
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            m.getPdo(&pdo, slave.position, i, j);
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59be91dfcbe1 Redesigned command interface.
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            pdoType = (sync.control_register & 0x04 ? "R" : "T");
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4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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   158
            pdoType += "xPdo"; // last 2 letters lowercase in XML!
1142
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   159
59be91dfcbe1 Redesigned command interface.
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            cout
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   161
                << in << "        <" << pdoType
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                << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl
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758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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   163
                << in << "          <Index>#x"
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59be91dfcbe1 Redesigned command interface.
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   164
                << hex << setfill('0') << setw(4) << pdo.index
59be91dfcbe1 Redesigned command interface.
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                << "</Index>" << endl
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758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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   166
                << in << "          <Name>" << pdo.name << "</Name>" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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   167
59be91dfcbe1 Redesigned command interface.
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   168
            for (k = 0; k < pdo.entry_count; k++) {
1151
1fc1535dec29 Alias/Position selection.
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   169
                m.getPdoEntry(&entry, slave.position, i, j, k);
1142
59be91dfcbe1 Redesigned command interface.
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   170
59be91dfcbe1 Redesigned command interface.
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   171
                cout
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758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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   172
                    << in << "          <Entry>" << endl
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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   173
                    << in << "            <Index>#x"
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   174
                    << hex << setfill('0') << setw(4) << entry.index
59be91dfcbe1 Redesigned command interface.
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   175
                    << "</Index>" << endl;
59be91dfcbe1 Redesigned command interface.
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   176
                if (entry.index)
59be91dfcbe1 Redesigned command interface.
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   177
                    cout
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758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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   178
                        << in << "            <SubIndex>"
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   179
                        << dec << (unsigned int) entry.subindex
59be91dfcbe1 Redesigned command interface.
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   180
                        << "</SubIndex>" << endl;
59be91dfcbe1 Redesigned command interface.
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parents:
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   181
                
59be91dfcbe1 Redesigned command interface.
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   182
                cout
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diff changeset
   183
                    << in << "            <BitLen>"
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   184
                    << dec << (unsigned int) entry.bit_length
59be91dfcbe1 Redesigned command interface.
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parents:
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   185
                    << "</BitLen>" << endl;
59be91dfcbe1 Redesigned command interface.
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parents:
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   186
59be91dfcbe1 Redesigned command interface.
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parents:
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   187
                if (entry.index) {
59be91dfcbe1 Redesigned command interface.
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parents:
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   188
                    cout
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758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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diff changeset
   189
                        << in << "            <Name>" << entry.name
1142
59be91dfcbe1 Redesigned command interface.
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   190
                        << "</Name>" << endl
1474
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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diff changeset
   191
                        << in << "            <DataType>";
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   192
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   193
                    if (entry.bit_length == 1) {
59be91dfcbe1 Redesigned command interface.
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parents:
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   194
                        cout << "BOOL";
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   195
                    } else if (!(entry.bit_length % 8)) {
1560
0ca50da62c52 Allow BITx types in XML output.
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diff changeset
   196
                        if (entry.bit_length <= 64) {
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   197
                            cout << "UINT" << (unsigned int) entry.bit_length;
1560
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   198
                        } else {
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   199
                            cout << "STRING("
59be91dfcbe1 Redesigned command interface.
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parents:
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   200
                                << (unsigned int) (entry.bit_length / 8)
59be91dfcbe1 Redesigned command interface.
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   201
                                << ")";
1560
0ca50da62c52 Allow BITx types in XML output.
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   202
                        }
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   203
                    } else {
1560
0ca50da62c52 Allow BITx types in XML output.
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   204
                        cout << "BIT" << (unsigned int) entry.bit_length;
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   205
                    }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   206
1560
0ca50da62c52 Allow BITx types in XML output.
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   207
                    cout << "</DataType>" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   208
                }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   209
1474
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
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   210
                cout << in << "          </Entry>" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   211
            }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
            cout
1474
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   214
                << in << "        </" << pdoType << ">" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   215
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   218
    cout
1474
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   219
        << in << "      </Device>" << endl
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   220
        << in << "    </Devices>" << endl
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   221
        << in << "  </Descriptions>" << endl
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   222
        << in << "</EtherCATInfo>" << endl;
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   223
}
758a9bd3e549 'ethercat xml' creates <EtherCATInfoList> for more than one slave.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   224
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
/*****************************************************************************/