author | Florian Pose <fp@igh-essen.com> |
Wed, 13 Aug 2008 13:21:35 +0000 | |
changeset 1199 | 30714bab3a04 |
parent 1157 | 04d1c950cf9d |
child 1254 | c19d273a9e76 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
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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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1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
31 |
<< "This command requires a single slave to be selected." << endl |
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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<< endl |
1142 | 33 |
<< "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.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
41 |
<< " --alias -a <alias>" << endl |
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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<< " --position -p <pos> Slave selection. See the help of" << endl |
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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<< " the 'slaves' command." << endl |
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 |
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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1155
bd4e5b544473
Common message for single slave selections.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
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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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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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/*****************************************************************************/ |