| author | Florian Pose <fp@igh-essen.com> |
| Tue, 24 Feb 2009 12:51:39 +0000 | |
| changeset 1363 | 11c0b2caa253 |
| parent 1254 | c19d273a9e76 |
| child 1373 | e651000f1ff1 |
| permissions | -rw-r--r-- |
| 1142 | 1 |
/***************************************************************************** |
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
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* $Id$ |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
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* This file is part of the IgH EtherCAT Master. |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* modify it under the terms of the GNU General Public License version 2, as |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* published by the Free Software Foundation. |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* Public License for more details. |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* You should have received a copy of the GNU General Public License along |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
|
11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
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* --- |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
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* The license mentioned above concerns the source code only. Using the |
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11c0b2caa253
Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents:
1254
diff
changeset
|
25 |
* EtherCAT technology and brand is only permitted in compliance with the |
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11c0b2caa253
Improved and added license headers.
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parents:
1254
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changeset
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* industrial property and similar rights of Beckhoff Automation GmbH. |
| 1142 | 27 |
* |
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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 "CommandSiiRead.h" |
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/*****************************************************************************/ |
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CommandSiiRead::CommandSiiRead(): |
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Command("sii_read", "Output a slave's SII contents.")
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{
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} |
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/*****************************************************************************/ |
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string CommandSiiRead::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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04d1c950cf9d
Added --help for alias and position parameters.
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<< "This command requires a single slave to be selected." << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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parents:
1155
diff
changeset
|
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<< endl |
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<< "Without the --verbose option, binary SII contents are" << endl |
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<< "output." << endl |
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<< endl |
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<< "With the --verbose option given, a textual representation" << endl |
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<< "of the data is output, that is separated by SII category" << endl |
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<< "names." << endl |
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<< endl |
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<< "Command-specific options:" << endl |
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1157
04d1c950cf9d
Added --help for alias and position parameters.
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parents:
1155
diff
changeset
|
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<< " --alias -a <alias>" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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parents:
1155
diff
changeset
|
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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parents:
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<< " the 'slaves' command." << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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<< " --verbose -v Output textual data with" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
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<< " category names." << 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 CommandSiiRead::execute(MasterDevice &m, const StringVector &args) |
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{
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SlaveList slaves; |
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ec_ioctl_slave_t *slave; |
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ec_ioctl_slave_sii_t data; |
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unsigned int i; |
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const uint16_t *categoryHeader; |
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uint16_t categoryType, categorySize; |
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stringstream err; |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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if (slaves.size() != 1) {
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throwSingleSlaveRequired(slaves.size()); |
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} |
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slave = &slaves.front(); |
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data.slave_position = slave->position; |
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if (!slave->sii_nwords) |
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return; |
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data.offset = 0; |
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data.nwords = slave->sii_nwords; |
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data.words = new uint16_t[data.nwords]; |
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try {
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m.readSii(&data); |
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} catch (MasterDeviceException &e) {
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delete [] data.words; |
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throw e; |
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} |
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if (getVerbosity() == Verbose) {
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cout << "SII Area:" << hex << setfill('0');
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for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {
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if (i % BreakAfterBytes) {
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cout << " "; |
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} else {
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cout << endl << " "; |
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} |
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cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i); |
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} |
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cout << endl; |
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if (data.nwords > 0x0040U) {
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// cycle through categories |
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categoryHeader = data.words + 0x0040U; |
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c19d273a9e76
Moved byteorder macros to ecrt.h.
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parents:
1157
diff
changeset
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categoryType = le16_to_cpup(categoryHeader); |
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while (categoryType != 0xffff) {
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cout << "SII Category 0x" << hex |
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<< setw(4) << categoryType |
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<< " (" << getCategoryName(categoryType) << ")" << flush;
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if (categoryHeader + 1 > data.words + data.nwords) {
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err << "SII data seem to be corrupted!"; |
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throwCommandException(err); |
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} |
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1254
c19d273a9e76
Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents:
1157
diff
changeset
|
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categorySize = le16_to_cpup(categoryHeader + 1); |
| 1142 | 135 |
cout << ", " << dec << categorySize << " words" << flush; |
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if (categoryHeader + 2 + categorySize |
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> data.words + data.nwords) {
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err << "SII data seem to be corrupted!"; |
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throwCommandException(err); |
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} |
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cout << hex; |
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for (i = 0; i < categorySize * 2U; i++) {
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if (i % BreakAfterBytes) {
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cout << " "; |
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} else {
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cout << endl << " "; |
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} |
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cout << setw(2) << (unsigned int) |
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*((uint8_t *) (categoryHeader + 2) + i); |
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} |
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cout << endl; |
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if (categoryHeader + 2 + categorySize + 1 |
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> data.words + data.nwords) {
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err << "SII data seem to be corrupted!"; |
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throwCommandException(err); |
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} |
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categoryHeader += 2 + categorySize; |
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1254
c19d273a9e76
Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents:
1157
diff
changeset
|
161 |
categoryType = le16_to_cpup(categoryHeader); |
| 1142 | 162 |
} |
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} |
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} else {
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for (i = 0; i < data.nwords; i++) {
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uint16_t *w = data.words + i; |
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cout << *(uint8_t *) w << *((uint8_t *) w + 1); |
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} |
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} |
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delete [] data.words; |
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} |
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/****************************************************************************/ |
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const CommandSiiRead::CategoryName CommandSiiRead::categoryNames[] = {
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{0x000a, "STRINGS"},
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{0x0014, "DataTypes"},
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{0x001e, "General"},
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{0x0028, "FMMU"},
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{0x0029, "SyncM"},
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{0x0032, "TXPDO"},
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{0x0033, "RXPDO"},
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{0x003c, "DC"},
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{}
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}; |
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/****************************************************************************/ |
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const char *CommandSiiRead::getCategoryName(uint16_t type) |
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{
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const CategoryName *cn = categoryNames; |
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while (cn->type) {
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if (cn->type == type) {
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return cn->name; |
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} |
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cn++; |
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} |
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return "unknown"; |
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} |
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/*****************************************************************************/ |