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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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#include <list>
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using namespace std;
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#include "CommandSlaves.h"
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/*****************************************************************************/
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CommandSlaves::CommandSlaves():
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Command("slaves", "Display slaves on the bus.")
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{
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}
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/*****************************************************************************/
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string CommandSlaves::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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<< "If the --verbose option is not given, the slaves are" << endl
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<< "displayed one-per-line. Example:" << endl
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<< endl
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<< "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V" << endl
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<< "| | | | | |" << endl
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<< "| | | | | \\- Name from SII if avaliable," << endl
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<< "| | | | | otherwise hexadecimal vendor ID" << endl
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<< "| | | | | and product code separated by a" << endl
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<< "| | | | | colon." << endl
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<< "| | | | \\- Error flag. '+' means no error," << endl
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<< "| | | | 'E' means that scanning or" << endl
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<< "| | | | configuration failed." << endl
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<< "| | | \\- Current slave state." << endl
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<< "| | \\- Relative position (decimal) after the last" << endl
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<< "| | slave with an alias address set." << endl
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<< "| \\- Alias address of the slave (if set to non-zero)," << endl
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<< "| or the alias of the last slave with an alias set," << endl
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<< "| or zero if there is none." << endl
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<< "\\- Ring position (use this with any --slave option)." << endl
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<< endl
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<< "If the --verbose option is given, a detailed (multi-line)" << endl
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<< "description is output for each slave." << endl
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<< 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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<< " or 'all' for all slaves (default)." << endl
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<< " --verbose -v Show detailed slave information." << 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 CommandSlaves::execute(MasterDevice &m, const StringVector &args)
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{
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m.open(MasterDevice::Read);
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if (getVerbosity() == Verbose) {
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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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showSlave(m, i);
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}
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} else {
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showSlave(m, slavePosition);
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}
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} else {
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listSlaves(m, slavePosition);
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}
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}
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/****************************************************************************/
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void CommandSlaves::listSlaves(
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MasterDevice &m,
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int slavePosition
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)
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{
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unsigned int numSlaves, i;
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ec_ioctl_slave_t slave;
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uint16_t lastAlias, aliasIndex;
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Info info;
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typedef list<Info> InfoList;
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InfoList infoList;
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InfoList::const_iterator iter;
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stringstream str;
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unsigned int maxPosWidth = 0, maxAliasWidth = 0,
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maxRelPosWidth = 0, maxStateWidth = 0;
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numSlaves = m.slaveCount();
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lastAlias = 0;
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aliasIndex = 0;
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for (i = 0; i < numSlaves; i++) {
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m.getSlave(&slave, i);
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if (slave.alias) {
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lastAlias = slave.alias;
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aliasIndex = 0;
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}
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if (slavePosition == -1 || i == (unsigned int) slavePosition) {
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str << dec << i;
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info.pos = str.str();
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str.clear();
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str.str("");
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str << lastAlias;
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info.alias = str.str();
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str.str("");
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str << aliasIndex;
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info.relPos = str.str();
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str.str("");
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info.state = slaveState(slave.state);
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info.flag = (slave.error_flag ? 'E' : '+');
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if (strlen(slave.name)) {
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info.name = slave.name;
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} else {
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str << "0x" << hex << setfill('0')
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<< setw(8) << slave.vendor_id << ":0x"
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<< setw(8) << slave.product_code;
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info.name = str.str();
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str.str("");
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}
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infoList.push_back(info);
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if (info.pos.length() > maxPosWidth)
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maxPosWidth = info.pos.length();
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if (info.alias.length() > maxAliasWidth)
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maxAliasWidth = info.alias.length();
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if (info.relPos.length() > maxRelPosWidth)
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maxRelPosWidth = info.relPos.length();
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if (info.state.length() > maxStateWidth)
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maxStateWidth = info.state.length();
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}
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aliasIndex++;
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}
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for (iter = infoList.begin(); iter != infoList.end(); iter++) {
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cout << setfill(' ') << right
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<< setw(maxPosWidth) << iter->pos << " "
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<< setw(maxAliasWidth) << iter->alias
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<< ":" << left
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<< setw(maxRelPosWidth) << iter->relPos << " "
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<< setw(maxStateWidth) << iter->state << " "
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<< iter->flag << " "
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<< iter->name << endl;
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}
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}
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/****************************************************************************/
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void CommandSlaves::showSlave(
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MasterDevice &m,
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uint16_t slavePosition
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)
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{
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ec_ioctl_slave_t slave;
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list<string> protoList;
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list<string>::const_iterator protoIter;
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m.getSlave(&slave, slavePosition);
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cout << "=== Slave " << dec << slavePosition << " ===" << endl;
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if (slave.alias)
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cout << "Alias: " << slave.alias << endl;
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cout
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<< "State: " << slaveState(slave.state) << endl
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<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl
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<< "Identity:" << endl
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<< " Vendor Id: 0x"
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<< hex << setfill('0')
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<< setw(8) << slave.vendor_id << endl
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<< " Product code: 0x"
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<< setw(8) << slave.product_code << endl
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<< " Revision number: 0x"
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<< setw(8) << slave.revision_number << endl
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<< " Serial number: 0x"
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<< setw(8) << slave.serial_number << endl;
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if (slave.mailbox_protocols) {
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cout << "Mailboxes:" << endl
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<< " RX: 0x"
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<< hex << setw(4) << slave.rx_mailbox_offset << "/"
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<< dec << slave.rx_mailbox_size
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<< ", TX: 0x"
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<< hex << setw(4) << slave.tx_mailbox_offset << "/"
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<< dec << slave.tx_mailbox_size << endl
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<< " Supported protocols: ";
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if (slave.mailbox_protocols & EC_MBOX_AOE) {
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protoList.push_back("AoE");
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}
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if (slave.mailbox_protocols & EC_MBOX_EOE) {
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protoList.push_back("EoE");
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}
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if (slave.mailbox_protocols & EC_MBOX_COE) {
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protoList.push_back("CoE");
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}
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if (slave.mailbox_protocols & EC_MBOX_FOE) {
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protoList.push_back("FoE");
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}
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if (slave.mailbox_protocols & EC_MBOX_SOE) {
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protoList.push_back("SoE");
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}
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if (slave.mailbox_protocols & EC_MBOX_VOE) {
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protoList.push_back("VoE");
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}
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for (protoIter = protoList.begin(); protoIter != protoList.end();
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protoIter++) {
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if (protoIter != protoList.begin())
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cout << ", ";
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cout << *protoIter;
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}
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cout << endl;
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}
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if (slave.has_general_category) {
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cout << "General:" << endl
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<< " Group: " << slave.group << endl
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<< " Image name: " << slave.image << endl
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<< " Order number: " << slave.order << endl
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<< " Device name: " << slave.name << endl;
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if (slave.mailbox_protocols & EC_MBOX_COE) {
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cout << " CoE details:" << endl
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<< " Enable Sdo: "
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<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl
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<< " Enable Sdo Info: "
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<< (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
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<< " Enable Pdo Assign: "
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<< (slave.coe_details.enable_pdo_assign
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? "yes" : "no") << endl
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<< " Enable Pdo Configuration: "
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<< (slave.coe_details.enable_pdo_configuration
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? "yes" : "no") << endl
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<< " Enable Upload at startup: "
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<< (slave.coe_details.enable_upload_at_startup
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? "yes" : "no") << endl
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<< " Enable Sdo complete access: "
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<< (slave.coe_details.enable_sdo_complete_access
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? "yes" : "no") << endl;
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}
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cout << " Flags:" << endl
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<< " Enable SafeOp: "
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<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl
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<< " Enable notLRW: "
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<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
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<< " Current consumption: "
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<< dec << slave.current_on_ebus << " mA" << endl;
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}
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}
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/****************************************************************************/
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string CommandSlaves::slaveState(uint8_t state)
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{
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switch (state) {
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case 1: return "INIT";
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case 2: return "PREOP";
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case 4: return "SAFEOP";
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case 8: return "OP";
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default: return "???";
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}
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}
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/*****************************************************************************/
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