tool/CommandConfig.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 26 Jan 2009 14:18:06 +0000
branchstable-1.4
changeset 1697 5958adc4300a
parent 1686 e206f4485f60
permissions -rw-r--r--
NEWS.
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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 <list>
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#include <iostream>
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#include <iomanip>
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#include <sstream>
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using namespace std;
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#include "CommandConfig.h"
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#include "byteorder.h"
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/*****************************************************************************/
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CommandConfig::CommandConfig():
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    Command("config", "Show slave configurations.")
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{
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}
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/*****************************************************************************/
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string CommandConfig::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, slave configurations are" << endl
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    	<< "output one-per-line. Example:" << endl
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    	<< endl
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    	<< "1001:0  0x0000003b/0x02010000  3  OP" << endl
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    	<< "|       |                      |  |" << endl
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    	<< "|       |                      |  \\- Application-layer" << endl
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    	<< "|       |                      |     state of the attached" << endl
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    	<< "|       |                      |     slave, or '-', if no" << endl
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    	<< "|       |                      |     slave is attached." << endl
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    	<< "|       |                      \\- Absolute decimal ring" << endl
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    	<< "|       |                         position of the attached" << endl
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    	<< "|       |                         slave, or '-' if none" << endl
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    	<< "|       |                         attached." << endl
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    	<< "|       \\- Expected vendor ID and product code (both" << endl
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    	<< "|          hexadecimal)." << endl
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    	<< "\\- Alias address and relative position (both decimal)." << endl
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    	<< endl
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    	<< "With the --verbose option given, the configured PDOs and" << endl
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    	<< "SDOs are output in addition." << endl
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        << endl
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        << "Configuration selection:" << endl
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        << "  Slave configurations can be selected with" << endl
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        << "  the --alias and --position parameters as follows:" << endl
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        << endl
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        << "  1) If neither the --alias nor the --position option" << endl
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        << "     is given, all slave configurations are displayed." << endl
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        << "  2) If only the --position option is given, an alias" << endl
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        << "     of zero is assumed (see 4))." << endl
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        << "  3) If only the --alias option is given, all slave" << endl
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        << "     configurations with the given alias address" << endl
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        << "     are displayed." << endl
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        << "  4) If both the --alias and the --position option are" << endl
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        << "     given, the selection can match a single" << endl
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        << "     configuration, that is displayed, if it exists." << endl
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    	<< endl
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    	<< "Command-specific options:" << endl
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        << "  --alias    -a <alias>  Configuration alias (see above)." << endl
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        << "  --position -p <pos>    Relative position (see above)." << endl
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    	<< "  --verbose  -v          Show detailed configurations." << 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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/** Lists the bus configuration.
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 */
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void CommandConfig::execute(MasterDevice &m, const StringVector &args)
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{
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    ConfigList configs;
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    m.open(MasterDevice::Read);
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    configs = selectedConfigs(m);
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    if (getVerbosity() == Verbose) {
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        showDetailedConfigs(m, configs);
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    } else {
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        listConfigs(m, configs);
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    }
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}
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/*****************************************************************************/
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/** Lists the complete bus configuration.
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 */
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void CommandConfig::showDetailedConfigs(
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		MasterDevice &m,
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		const ConfigList &configList
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		)
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{
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    ConfigList::const_iterator configIter;
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    unsigned int j, k, l;
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    ec_ioctl_slave_t slave;
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    ec_ioctl_config_pdo_t pdo;
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    ec_ioctl_config_pdo_entry_t entry;
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    ec_ioctl_config_sdo_t sdo;
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    for (configIter = configList.begin();
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            configIter != configList.end();
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            configIter++) {
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        cout << "Alias: "
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            << dec << configIter->alias << endl
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            << "Position: " << configIter->position << endl
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            << "Vendor Id: 0x"
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            << hex << setfill('0')
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            << setw(8) << configIter->vendor_id << endl
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            << "Product code: 0x"
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            << setw(8) << configIter->product_code << endl
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            << "Attached slave: ";
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        if (configIter->slave_position != -1) {
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            m.getSlave(&slave, configIter->slave_position);
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            cout << dec << configIter->slave_position
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                << " (" << alStateString(slave.al_state) << ")" << endl;
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        } else {
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            cout << "none" << endl;
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        }
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        for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
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            if (configIter->syncs[j].pdo_count) {
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                cout << "SM" << dec << j << " ("
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                    << (configIter->syncs[j].dir == EC_DIR_INPUT
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                            ? "Input" : "Output") << ")" << endl;
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                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
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                    m.getConfigPdo(&pdo, configIter->config_index, j, k);
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                    cout << "  PDO 0x" << hex << setw(4) << pdo.index << endl;
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                    for (l = 0; l < pdo.entry_count; l++) {
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                        m.getConfigPdoEntry(&entry,
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                                configIter->config_index, j, k, l);
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                        cout << "    PDO entry 0x" << hex << setfill('0')
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                            << setw(4) << entry.index << ":"
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                            << setw(2) << (unsigned int) entry.subindex
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                            << ", " << dec << setfill(' ')
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                            << setw(2) << (unsigned int) entry.bit_length
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                            << " bit" << endl;
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                    }
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                }
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            }
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        }
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        cout << "SDO configuration:" << endl;
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        if (configIter->sdo_count) {
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            for (j = 0; j < configIter->sdo_count; j++) {
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                m.getConfigSdo(&sdo, configIter->config_index, j);
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                cout << "  0x"
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                    << hex << setfill('0')
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                    << setw(4) << sdo.index << ":"
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                    << setw(2) << (unsigned int) sdo.subindex
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                    << ", " << dec << sdo.size << " byte: " << hex;
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                switch (sdo.size) {
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                    case 1:
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                        cout << "0x" << setw(2)
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                            << (unsigned int) *(uint8_t *) &sdo.data;
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                        break;
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                    case 2:
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                        cout << "0x" << setw(4)
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                            << le16tocpu(*(uint16_t *) &sdo.data);
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                        break;
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                    case 4:
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                        cout << "0x" << setw(8)
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                            << le32tocpu(*(uint32_t *) &sdo.data);
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                        break;
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                    default:
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                        cout << "???";
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                }
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                cout << endl;
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            }
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        } else {
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            cout << "  None." << endl;
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        }
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        cout << endl;
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    }
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}
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/*****************************************************************************/
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/** Lists the bus configuration.
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 */
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void CommandConfig::listConfigs(
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        MasterDevice &m,
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        const ConfigList &configList
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        )
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{
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    ConfigList::const_iterator configIter;
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    stringstream str;
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    Info info;
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    typedef list<Info> InfoList;
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    InfoList list;
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    InfoList::const_iterator iter;
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    unsigned int maxAliasWidth = 0, maxPosWidth = 0,
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                 maxSlavePosWidth = 0, maxStateWidth = 0;
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    ec_ioctl_slave_t slave;
1142
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59be91dfcbe1 Redesigned command interface.
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    for (configIter = configList.begin();
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            configIter != configList.end();
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            configIter++) {
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        str << dec << configIter->alias;
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        info.alias = str.str();
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        str.clear();
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        str.str("");
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   224
59be91dfcbe1 Redesigned command interface.
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        str << configIter->position;
59be91dfcbe1 Redesigned command interface.
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   226
        info.pos = str.str();
59be91dfcbe1 Redesigned command interface.
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        str.clear();
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        str.str("");
59be91dfcbe1 Redesigned command interface.
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   229
59be91dfcbe1 Redesigned command interface.
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   230
        str << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
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   231
            << "0x" << setw(8) << configIter->vendor_id
59be91dfcbe1 Redesigned command interface.
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   232
            << "/0x" << setw(8) << configIter->product_code;
59be91dfcbe1 Redesigned command interface.
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   233
        info.ident = str.str();
59be91dfcbe1 Redesigned command interface.
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   234
        str.clear();
59be91dfcbe1 Redesigned command interface.
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   235
        str.str("");
59be91dfcbe1 Redesigned command interface.
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   236
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   237
        if (configIter->slave_position != -1) {
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   238
            m.getSlave(&slave, configIter->slave_position);
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   239
1172
74ee632c3b5e Fixed attached slave position in 'ethercat config' -> decimal.
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   240
            str << dec << configIter->slave_position;
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   241
            info.slavePos = str.str();
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   242
            str.clear();
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   243
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   244
1148
1762296870bd Renamed state field to al_state.
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   245
            str << alStateString(slave.al_state);
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   246
            info.state = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   247
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   248
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   249
        } else {
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   250
            str << "-";
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   251
            info.slavePos = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   252
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   253
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   254
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   255
            str << "-";
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   256
            info.state = str.str();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   257
            str.clear();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   258
            str.str("");
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   259
        }
1142
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   260
59be91dfcbe1 Redesigned command interface.
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   261
        list.push_back(info);
59be91dfcbe1 Redesigned command interface.
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   262
59be91dfcbe1 Redesigned command interface.
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   263
        if (info.alias.length() > maxAliasWidth)
59be91dfcbe1 Redesigned command interface.
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   264
            maxAliasWidth = info.alias.length();
59be91dfcbe1 Redesigned command interface.
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   265
        if (info.pos.length() > maxPosWidth)
59be91dfcbe1 Redesigned command interface.
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   266
            maxPosWidth = info.pos.length();
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   267
        if (info.slavePos.length() > maxSlavePosWidth)
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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diff changeset
   268
            maxSlavePosWidth = info.slavePos.length();
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   269
        if (info.state.length() > maxStateWidth)
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   270
            maxStateWidth = info.state.length();
1142
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   271
    }
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   272
59be91dfcbe1 Redesigned command interface.
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   273
    for (iter = list.begin(); iter != list.end(); iter++) {
59be91dfcbe1 Redesigned command interface.
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   274
        cout << setfill(' ') << right
59be91dfcbe1 Redesigned command interface.
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   275
            << setw(maxAliasWidth) << iter->alias
59be91dfcbe1 Redesigned command interface.
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   276
            << ":" << left
59be91dfcbe1 Redesigned command interface.
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   277
            << setw(maxPosWidth) << iter->pos
59be91dfcbe1 Redesigned command interface.
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   278
            << "  "
59be91dfcbe1 Redesigned command interface.
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   279
            << iter->ident
59be91dfcbe1 Redesigned command interface.
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   280
            << "  "
1147
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   281
            << setw(maxSlavePosWidth) << iter->slavePos << "  "
0eac1ee8512a Show attached slave position and state in 'ethercat config'.
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   282
            << setw(maxStateWidth) << iter->state << "  "
1142
59be91dfcbe1 Redesigned command interface.
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   283
            << endl;
59be91dfcbe1 Redesigned command interface.
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   284
    }
59be91dfcbe1 Redesigned command interface.
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   285
}
59be91dfcbe1 Redesigned command interface.
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   286
59be91dfcbe1 Redesigned command interface.
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   287
/*****************************************************************************/