tool/Command.cpp
author Florian Pose <fp@igh-essen.com>
Wed, 24 Feb 2010 17:24:20 +0100
changeset 1827 489be2180f71
parent 1826 ec6223c3b7ec
child 1834 67fc217d7341
permissions -rw-r--r--
Improved multi-master capabilities of ethercat tool.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 ****************************************************************************/
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#include "Command.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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Command::Command(const string &name, const string &briefDesc):
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    name(name),
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    briefDesc(briefDesc),
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    verbosity(Normal)
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{
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}
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/*****************************************************************************/
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Command::~Command()
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{
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}
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/*****************************************************************************/
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void Command::setMasterIndices(const MasterIndexList &indices)
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{
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    masterIndices = indices;
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};
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/*****************************************************************************/
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void Command::setVerbosity(Verbosity v)
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{
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    verbosity = v;
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};
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/*****************************************************************************/
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void Command::setAlias(int a)
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{
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    alias = a;
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};
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/*****************************************************************************/
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void Command::setPosition(int p)
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{
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    position = p;
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};
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/*****************************************************************************/
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void Command::setDomain(int d)
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{
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    domain = d;
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};
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/*****************************************************************************/
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void Command::setDataType(const string &t)
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{
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    dataType = t;
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};
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/*****************************************************************************/
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void Command::setForce(bool f)
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{
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    force = f;
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};
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/*****************************************************************************/
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void Command::setOutputFile(const string &f)
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{
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    outputFile = f;
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};
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/****************************************************************************/
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bool Command::matchesSubstr(const string &cmd) const
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{
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    return name.substr(0, cmd.length()) == cmd;
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}
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/****************************************************************************/
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bool Command::matchesAbbrev(const string &abb) const
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{
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    unsigned int i;
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    size_t pos = 0;
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    for (i = 0; i < abb.length(); i++) {
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        pos = name.find(abb[i], pos);
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        if (pos == string::npos)
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            return false;
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    }
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    return true;
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}
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/*****************************************************************************/
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string Command::numericInfo()
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{
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    stringstream str;
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    str << "Numerical values can be specified either with decimal (no" << endl
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        << "prefix), octal (prefix '0') or hexadecimal (prefix '0x') base."
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        << endl;
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    return str.str();
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}
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/*****************************************************************************/
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void Command::throwInvalidUsageException(const stringstream &s) const
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{
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    throw InvalidUsageException(s);
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}
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/*****************************************************************************/
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void Command::throwCommandException(const stringstream &s) const
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{
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    throw CommandException(s);
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}
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/*****************************************************************************/
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void Command::throwSingleSlaveRequired(unsigned int size) const
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{
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    stringstream err;
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    err << "The slave selection matches " << size << " slaves. '"
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        << name << "' requires a single slave.";
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    throwInvalidUsageException(err);
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}
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/*****************************************************************************/
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Command::SlaveList Command::selectedSlaves(MasterDevice &m)
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{
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    ec_ioctl_master_t master;
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    unsigned int i, aliasIndex;
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    uint16_t lastAlias;
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    ec_ioctl_slave_t slave;
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    SlaveList list;
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    m.getMaster(&master);
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    if (alias == -1) { // no alias given
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        if (position == -1) { // no alias and position given
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            // all items
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            for (i = 0; i < master.slave_count; i++) {
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                m.getSlave(&slave, i);
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                list.push_back(slave);
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            }
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        } else { // no alias, but position given
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            // one item by position
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            m.getSlave(&slave, position);
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            list.push_back(slave);
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        }
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    } else { // alias given
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        if (position == -1) { // alias, but no position given
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            // take all items with a given alias
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            lastAlias = 0;
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            for (i = 0; i < master.slave_count; 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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                }
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                if (lastAlias == (uint16_t) alias) {
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                    list.push_back(slave);
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                }
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            }
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        } else { // alias and position given
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            lastAlias = 0;
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            aliasIndex = 0;
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            for (i = 0; i < master.slave_count; i++) {
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                m.getSlave(&slave, i);
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                if (slave.alias && slave.alias == (uint16_t) alias) {
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                    lastAlias = slave.alias;
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                    aliasIndex = 0;
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                }
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                if (lastAlias && aliasIndex == (unsigned int) position) {
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                    list.push_back(slave);
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                }
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                aliasIndex++;
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            }
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        }
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    }
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    return list;
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}
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/*****************************************************************************/
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bool operator<(
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        const ec_ioctl_config_t &a,
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        const ec_ioctl_config_t &b
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        )
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{
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    return a.alias < b.alias
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        || (a.alias == b.alias && a.position < b.position);
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}
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/*****************************************************************************/
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Command::ConfigList Command::selectedConfigs(MasterDevice &m)
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{
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    unsigned int i;
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    ec_ioctl_master_t master;
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    ec_ioctl_config_t config;
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    ConfigList list;
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    stringstream err;
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   243
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    m.getMaster(&master);
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    if (alias == -1) { // no alias given
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   247
        if (position == -1) { // no alias and position given
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            // all items
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                list.push_back(config);
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            }
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   253
        } else { // no alias, but position given
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   254
            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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   256
                if (!config.alias && config.position == position) {
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                    list.push_back(config);
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                    break; // there can be at most one matching
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   259
                }
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   260
            }
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   261
        }
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   262
    } else { // alias given
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   263
        if (position == -1) { // alias, but no position given
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   264
            // take all items with a given alias
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   265
            for (i = 0; i < master.config_count; i++) {
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   266
                m.getConfig(&config, i);
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   267
                if (config.alias == alias) {
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   268
                    list.push_back(config);
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   269
                }
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   270
            }
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   271
        } else { // alias and position given
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   272
            for (i = 0; i < master.config_count; i++) {
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   273
                m.getConfig(&config, i);
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   274
                if (config.alias == alias && config.position == position) {
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   275
                    list.push_back(config);
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   276
                    break; // there can be at most one matching
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   277
                }
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   278
            }
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   279
        }
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   280
    }
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   281
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   282
    list.sort();
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   283
    return list;
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   284
}
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   285
1142
59be91dfcbe1 Redesigned command interface.
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   286
/****************************************************************************/
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   287
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   288
Command::DomainList Command::selectedDomains(MasterDevice &m)
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   289
{
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   290
    ec_ioctl_domain_t d;
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   291
    DomainList list;
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   292
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   293
    if (domain == -1) {
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   294
        ec_ioctl_master_t master;
1166
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   295
        unsigned int i;
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   296
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   297
        m.getMaster(&master);
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   298
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   299
        for (i = 0; i < master.domain_count; i++) {
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            m.getDomain(&d, i);
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            list.push_back(d);
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        }
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    } else {
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        m.getDomain(&d, domain);
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        list.push_back(d);
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    }
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    return list;
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}
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/****************************************************************************/
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string Command::alStateString(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 3: return "BOOT";
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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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/****************************************************************************/