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/*****************************************************************************

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 *

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 * $Id$

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 *

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 ****************************************************************************/

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#include <iostream>

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#include <iomanip>

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using namespace std;

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#include "globals.h"

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#include "coe_datatypes.h"

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/****************************************************************************/

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const char *help_sdos =

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    "[OPTIONS]\n"

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    "\n"

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    "Displays the Sdo dictionary with Sdos and Sdo entries.\n"

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    "\n"

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    "Sdo dictionary information is displayed in two layers, with are\n"

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    "indented accordingly:\n"

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    "\n"

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    "1) Sdos - Hexadecimal Sdo index and the name. Example:\n"

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    "\n"

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    "   Sdo 0x1018, \"Identity object\"\n"

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    "\n"

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    "2) Sdo entries - Sdo index and Sdo entry subindex (both hexadecimal)\n"

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    "   followed by the data type, the length in bit, and the description.\n"

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    "   Example:\n"

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    "\n"

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    "   0x1018:01, uint32, 32 bit, \"Vendor id\"\n"

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    "\n"

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    "If the --quiet option is given, only the Sdos are printed.\n"

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    "\n"

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    "Command-specific options:\n"

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    "  --slave -s <index>  Positive numerical ring position, or 'all' for\n"

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    "                      all slaves (default).\n"

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    "  --quiet -q          Print only Sdos (without Sdo entries).\n"

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    "\n"

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    "Numerical values can be specified either with decimal (no prefix),\n"

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    "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";

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/****************************************************************************/

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void listSlaveSdos(uint16_t, bool);

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/****************************************************************************/

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void command_sdos(void)

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{

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    masterDev.open(MasterDevice::Read);

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    if (slavePosition == -1) {

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        unsigned int numSlaves = masterDev.slaveCount(), i;

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        for (i = 0; i < numSlaves; i++) {

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            listSlaveSdos(i, true);

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        }

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    } else {

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        listSlaveSdos(slavePosition, false);

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    }

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}

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/****************************************************************************/

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void listSlaveSdos(

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		uint16_t slavePosition,

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		bool withHeader

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		)

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{

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    ec_ioctl_slave_t slave;

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    ec_ioctl_slave_sdo_t sdo;

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    ec_ioctl_slave_sdo_entry_t entry;

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    unsigned int i, j;

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    const CoEDataType *d;

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    masterDev.getSlave(&slave, slavePosition);

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    if (withHeader)

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        cout << "=== Slave " << slavePosition << " ===" << endl;

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    for (i = 0; i < slave.sdo_count; i++) {

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        masterDev.getSdo(&sdo, slavePosition, i);

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        cout << "Sdo 0x"

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            << hex << setfill('0')

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            << setw(4) << sdo.sdo_index

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            << ", \"" << sdo.name << "\"" << endl;

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        if (verbosity == Quiet)

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            continue;

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        for (j = 0; j <= sdo.max_subindex; j++) {

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            masterDev.getSdoEntry(&entry, slavePosition, -i, j);

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            cout << "  0x" << hex << setfill('0')

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                << setw(4) << sdo.sdo_index << ":"

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                << setw(2) << (unsigned int) entry.sdo_entry_subindex

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                << ", ";

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            if ((d = findDataType(entry.data_type))) {

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                cout << d->name;

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            } else {

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                cout << "type " << setw(4) << entry.data_type;

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            }

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            cout << ", " << dec << entry.bit_length << " bit, \""

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                << entry.description << "\"" << endl;

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        }

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    }

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}

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/*****************************************************************************/