author | Florian Pose <fp@igh-essen.com> |
Tue, 19 Jan 2010 15:15:57 +0100 | |
changeset 1773 | 5371f3e5f6a1 |
parent 1363 | 11c0b2caa253 |
child 1804 | 742607c464c4 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
|
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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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* |
28 |
****************************************************************************/ |
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||
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#include "Command.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::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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128 |
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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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/*****************************************************************************/ |
147 |
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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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154 |
|
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throwInvalidUsageException(err); |
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} |
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157 |
|
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/*****************************************************************************/ |
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Command::SlaveList Command::selectedSlaves(MasterDevice &m) |
161 |
{ |
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ec_ioctl_master_t master; |
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unsigned int i, aliasIndex; |
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uint16_t lastAlias; |
165 |
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 |
171 |
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); |
175 |
list.push_back(slave); |
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} |
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177 |
} else { // no alias, but position given |
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178 |
// one item by position |
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179 |
m.getSlave(&slave, position); |
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180 |
list.push_back(slave); |
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181 |
} |
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182 |
} else { // alias given |
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183 |
if (position == -1) { // alias, but no position given |
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// take all items with a given alias |
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185 |
lastAlias = 0; |
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186 |
for (i = 0; i < master.slave_count; i++) { |
1151 | 187 |
m.getSlave(&slave, i); |
188 |
if (slave.alias) { |
|
189 |
lastAlias = slave.alias; |
|
190 |
} |
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191 |
if (lastAlias == (uint16_t) alias) { |
|
192 |
list.push_back(slave); |
|
193 |
} |
|
194 |
} |
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195 |
} else { // alias and position given |
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196 |
lastAlias = 0; |
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197 |
aliasIndex = 0; |
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198 |
for (i = 0; i < master.slave_count; i++) { |
1151 | 199 |
m.getSlave(&slave, i); |
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200 |
if (slave.alias && slave.alias == (uint16_t) alias) { |
1151 | 201 |
lastAlias = slave.alias; |
202 |
aliasIndex = 0; |
|
203 |
} |
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if (lastAlias && aliasIndex == (unsigned int) position) { |
1151 | 205 |
list.push_back(slave); |
206 |
} |
|
207 |
aliasIndex++; |
|
208 |
} |
|
209 |
} |
|
210 |
} |
|
211 |
||
212 |
return list; |
|
213 |
} |
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||
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215 |
/*****************************************************************************/ |
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216 |
|
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217 |
bool operator<( |
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218 |
const ec_ioctl_config_t &a, |
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const ec_ioctl_config_t &b |
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220 |
) |
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221 |
{ |
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222 |
return a.alias < b.alias |
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223 |
|| (a.alias == b.alias && a.position < b.position); |
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224 |
} |
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225 |
|
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226 |
/*****************************************************************************/ |
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|
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228 |
Command::ConfigList Command::selectedConfigs(MasterDevice &m) |
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229 |
{ |
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230 |
unsigned int i; |
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231 |
ec_ioctl_master_t master; |
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ec_ioctl_config_t config; |
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233 |
ConfigList list; |
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234 |
stringstream err; |
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235 |
|
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236 |
m.getMaster(&master); |
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237 |
|
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238 |
if (alias == -1) { // no alias given |
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239 |
if (position == -1) { // no alias and position given |
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240 |
// all items |
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241 |
for (i = 0; i < master.config_count; i++) { |
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242 |
m.getConfig(&config, i); |
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243 |
list.push_back(config); |
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244 |
} |
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245 |
} else { // no alias, but position given |
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246 |
for (i = 0; i < master.config_count; i++) { |
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247 |
m.getConfig(&config, i); |
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248 |
if (!config.alias && config.position == position) { |
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249 |
list.push_back(config); |
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250 |
break; // there can be at most one matching |
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251 |
} |
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252 |
} |
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253 |
} |
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254 |
} else { // alias given |
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255 |
if (position == -1) { // alias, but no position given |
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256 |
// take all items with a given alias |
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257 |
for (i = 0; i < master.config_count; i++) { |
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|
258 |
m.getConfig(&config, i); |
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259 |
if (config.alias == alias) { |
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260 |
list.push_back(config); |
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|
261 |
} |
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262 |
} |
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263 |
} else { // alias and position given |
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|
264 |
for (i = 0; i < master.config_count; i++) { |
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|
265 |
m.getConfig(&config, i); |
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|
266 |
if (config.alias == alias && config.position == position) { |
1156
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267 |
list.push_back(config); |
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|
268 |
break; // there can be at most one matching |
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|
269 |
} |
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|
270 |
} |
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|
271 |
} |
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|
272 |
} |
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|
273 |
|
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274 |
list.sort(); |
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275 |
return list; |
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|
276 |
} |
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277 |
|
1142 | 278 |
/****************************************************************************/ |
1146
f18d124d7fbc
Moved slaveState() to Command::alStateString().
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|
279 |
|
1166 | 280 |
Command::DomainList Command::selectedDomains(MasterDevice &m) |
281 |
{ |
|
282 |
ec_ioctl_domain_t d; |
|
283 |
DomainList list; |
|
284 |
||
285 |
if (domain == -1) { |
|
286 |
ec_ioctl_master_t master; |
|
287 |
unsigned int i; |
|
288 |
||
289 |
m.getMaster(&master); |
|
290 |
||
291 |
for (i = 0; i < master.domain_count; i++) { |
|
292 |
m.getDomain(&d, i); |
|
293 |
list.push_back(d); |
|
294 |
} |
|
295 |
} else { |
|
296 |
m.getDomain(&d, domain); |
|
297 |
list.push_back(d); |
|
298 |
} |
|
299 |
||
300 |
return list; |
|
301 |
} |
|
302 |
||
303 |
/****************************************************************************/ |
|
304 |
||
1146
f18d124d7fbc
Moved slaveState() to Command::alStateString().
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|
305 |
string Command::alStateString(uint8_t state) |
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|
306 |
{ |
f18d124d7fbc
Moved slaveState() to Command::alStateString().
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|
307 |
switch (state) { |
f18d124d7fbc
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|
308 |
case 1: return "INIT"; |
f18d124d7fbc
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|
309 |
case 2: return "PREOP"; |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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|
310 |
case 3: return "BOOT"; |
1146
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|
311 |
case 4: return "SAFEOP"; |
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|
312 |
case 8: return "OP"; |
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|
313 |
default: return "???"; |
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|
314 |
} |
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Moved slaveState() to Command::alStateString().
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|
315 |
} |
f18d124d7fbc
Moved slaveState() to Command::alStateString().
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changeset
|
316 |
|
f18d124d7fbc
Moved slaveState() to Command::alStateString().
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|
317 |
/****************************************************************************/ |