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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 "CommandSiiRead.h"
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#include "byteorder.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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<< "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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<< " --slave -s <index> Positive numerical ring position" << endl
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<< " (mandatory)." << endl
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<< " --verbose -v Output textual data with" << endl
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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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err << "'" << getName() << "' requires a single slave ("
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<< slaves.size() << " selected).";
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throwInvalidUsageException(err);
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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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categoryType = le16tocpu(*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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categorySize = le16tocpu(*(categoryHeader + 1));
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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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categoryType = le16tocpu(*categoryHeader);
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}
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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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/*****************************************************************************/
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