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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 "CommandSdos.h"

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#include "coe_datatypes.h"

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

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CommandSdos::CommandSdos():

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    Command("sdos", "List Sdo dictionaries.")

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{

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}

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

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string CommandSdos::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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    	<< "Sdo dictionary information is displayed in two layers," << endl

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    	<< "which are indented accordingly:" << endl

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    	<< endl

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    	<< "1) Sdos - Hexadecimal Sdo index and the name. Example:" << endl

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    	<< endl

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    	<< "   Sdo 0x1018, \"Identity object\"" << endl

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    	<< endl

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    	<< "2) Sdo entries - Sdo index and Sdo entry subindex (both" << endl

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		<< "   hexadecimal) followed by the data type, the length in" << endl

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		<< "   bit, and the description. Example:" << endl

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    	<< endl

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

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    	<< endl

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

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		<< endl << endl

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    	<< "Command-specific options:" << endl

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    	<< "  --slave -s <index>  Positive numerical ring position," << endl

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		<< "                      'all' for all slaves (default)." << endl

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    	<< "  --quiet -q          Print only Sdos (without Sdo" << endl

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		<< "                      entries)." << 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 CommandSdos::execute(MasterDevice &m, const StringVector &args)

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{

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    m.open(MasterDevice::Read);

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    if (slavePosition == -1) {

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

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

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            listSlaveSdos(m, i, true);

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        }

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    } else {

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        listSlaveSdos(m, slavePosition, false);

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    }

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}

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

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void CommandSdos::listSlaveSdos(

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		MasterDevice &m,

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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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    m.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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        m.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 (getVerbosity() == Quiet)

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            continue;

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

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            m.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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/*****************************************************************************/