| author | Florian Pose <fp@igh-essen.com> |
| Mon, 19 Jan 2009 14:46:55 +0000 | |
| branch | 1.4-foe |
| changeset 1709 | 63e4bc918640 |
| parent 1686 | e206f4485f60 |
| child 1363 | 11c0b2caa253 |
| 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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#include <list> |
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#include <string.h> |
| 1142 | 11 |
using namespace std; |
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#include "CommandSlaves.h" |
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/*****************************************************************************/ |
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CommandSlaves::CommandSlaves(): |
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Command("slaves", "Display slaves on the bus.")
|
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{
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} |
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/*****************************************************************************/ |
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string CommandSlaves::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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<< "If the --verbose option is not given, the slaves are" << endl |
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<< "displayed one-per-line. Example:" << endl |
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<< endl |
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<< "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V" << endl |
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<< "| | | | | |" << endl |
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<< "| | | | | \\- Name from the SII if avaliable," << endl |
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<< "| | | | | otherwise vendor ID and product" << endl |
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<< "| | | | | code (both hexadecimal)." << endl |
| 1142 | 40 |
<< "| | | | \\- Error flag. '+' means no error," << endl |
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<< "| | | | 'E' means that scan or" << endl |
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<< "| | | | configuration failed." << endl |
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<< "| | | \\- Current application-layer state." << endl |
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<< "| | \\- Decimal relative position to the last" << endl |
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<< "| | slave with an alias address set." << endl |
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<< "| \\- Decimal alias address of this slave (if set)," << endl |
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<< "| otherwise of the last slave with an alias set," << endl |
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<< "| or zero, if no alias was encountered up to this" << endl |
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<< "| position." << endl |
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<< "\\- Absolute ring position in the bus." << endl |
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<< endl |
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<< "If the --verbose option is given, a detailed (multi-line)" << endl |
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<< "description is output for each slave." << endl |
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<< endl |
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<< "Slave selection:" << endl |
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<< " Slaves for this and other commands 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 slaves are selected." << endl |
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<< " 2) If only the --position option is given, it is" << endl |
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<< " interpreted as an absolute ring position and" << endl |
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<< " a slave with this position is matched." << endl |
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<< " 3) If only the --alias option is given, all slaves" << endl |
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<< " with the given alias address and subsequent" << endl |
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<< " slaves before a slave with a different alias" << endl |
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<< " address match (use -p0 if only the slaves" << endl |
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<< " with the given alias are desired, see 4))." << endl |
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<< " 4) If both the --alias and the --position option are" << endl |
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<< " given, the latter is interpreted as relative" << endl |
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<< " position behind any slave with the given alias." << endl |
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<< endl |
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<< "Command-specific options:" << endl |
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<< " --alias -a <alias> Slave alias (see above)." << endl |
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<< " --position -p <pos> Slave position (see above)." << endl |
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<< " --verbose -v Show detailed slave information." << 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 CommandSlaves::execute(MasterDevice &m, const StringVector &args) |
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{
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SlaveList slaves; |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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if (getVerbosity() == Verbose) {
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showSlaves(m, slaves); |
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} else {
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listSlaves(m, slaves); |
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} |
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} |
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/****************************************************************************/ |
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void CommandSlaves::listSlaves( |
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MasterDevice &m, |
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const SlaveList &slaves |
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) |
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{
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ec_ioctl_master_t master; |
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unsigned int i; |
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ec_ioctl_slave_t slave; |
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uint16_t lastAlias, aliasIndex; |
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Info info; |
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typedef list<Info> InfoList; |
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InfoList infoList; |
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InfoList::const_iterator iter; |
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stringstream str; |
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unsigned int maxPosWidth = 0, maxAliasWidth = 0, |
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maxRelPosWidth = 0, maxStateWidth = 0; |
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m.getMaster(&master); |
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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) {
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lastAlias = slave.alias; |
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aliasIndex = 0; |
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} |
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if (slaveInList(slave, slaves)) {
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str << dec << i; |
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info.pos = str.str(); |
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str.clear(); |
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str.str("");
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str << lastAlias; |
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info.alias = str.str(); |
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str.str("");
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str << aliasIndex; |
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info.relPos = str.str(); |
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str.str("");
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Renamed state field to al_state.
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info.state = alStateString(slave.al_state); |
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info.flag = (slave.error_flag ? 'E' : '+'); |
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if (strlen(slave.name)) {
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info.name = slave.name; |
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} else {
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str << "0x" << hex << setfill('0')
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<< setw(8) << slave.vendor_id << ":0x" |
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<< setw(8) << slave.product_code; |
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info.name = str.str(); |
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str.str("");
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} |
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infoList.push_back(info); |
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if (info.pos.length() > maxPosWidth) |
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maxPosWidth = info.pos.length(); |
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if (info.alias.length() > maxAliasWidth) |
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maxAliasWidth = info.alias.length(); |
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if (info.relPos.length() > maxRelPosWidth) |
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maxRelPosWidth = info.relPos.length(); |
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if (info.state.length() > maxStateWidth) |
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maxStateWidth = info.state.length(); |
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} |
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aliasIndex++; |
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} |
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for (iter = infoList.begin(); iter != infoList.end(); iter++) {
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cout << setfill(' ') << right
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<< setw(maxPosWidth) << iter->pos << " " |
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<< setw(maxAliasWidth) << iter->alias |
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<< ":" << left |
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<< setw(maxRelPosWidth) << iter->relPos << " " |
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<< setw(maxStateWidth) << iter->state << " " |
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<< iter->flag << " " |
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<< iter->name << endl; |
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} |
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} |
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/****************************************************************************/ |
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||
| 1151 | 187 |
void CommandSlaves::showSlaves( |
| 1142 | 188 |
MasterDevice &m, |
| 1151 | 189 |
const SlaveList &slaves |
| 1142 | 190 |
) |
191 |
{
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| 1151 | 192 |
SlaveList::const_iterator si; |
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194 |
for (si = slaves.begin(); si != slaves.end(); si++) {
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cout << "=== Slave " << dec << si->position << " ===" << endl; |
|
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197 |
if (si->alias) |
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cout << "Alias: " << si->alias << endl; |
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199 |
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200 |
cout |
|
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<< "State: " << alStateString(si->al_state) << endl |
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<< "Flag: " << (si->error_flag ? 'E' : '+') << endl |
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<< "Identity:" << endl |
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<< " Vendor Id: 0x" |
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<< hex << setfill('0')
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<< setw(8) << si->vendor_id << endl |
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<< " Product code: 0x" |
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<< setw(8) << si->product_code << endl |
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<< " Revision number: 0x" |
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<< setw(8) << si->revision_number << endl |
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<< " Serial number: 0x" |
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<< setw(8) << si->serial_number << endl; |
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||
214 |
if (si->mailbox_protocols) {
|
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parents:
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list<string> protoList; |
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ae4c73f4c56d
merge -r1446:1448 trunk: Plugfest6 fixes.
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parents:
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216 |
list<string>::const_iterator protoIter; |
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ae4c73f4c56d
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parents:
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217 |
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cout << "Mailboxes:" << endl |
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<< " Bootstrap RX: 0x" |
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Implemented going to bootstrap state BOOT.
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<< hex << setw(4) << si->boot_rx_mailbox_offset << "/" |
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63e4bc918640
Implemented going to bootstrap state BOOT.
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221 |
<< dec << si->boot_rx_mailbox_size |
| 1151 | 222 |
<< ", TX: 0x" |
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Implemented going to bootstrap state BOOT.
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223 |
<< hex << setw(4) << si->boot_tx_mailbox_offset << "/" |
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63e4bc918640
Implemented going to bootstrap state BOOT.
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224 |
<< dec << si->boot_tx_mailbox_size << endl |
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Implemented going to bootstrap state BOOT.
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225 |
<< " Standard RX: 0x" |
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Implemented going to bootstrap state BOOT.
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226 |
<< hex << setw(4) << si->std_rx_mailbox_offset << "/" |
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63e4bc918640
Implemented going to bootstrap state BOOT.
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227 |
<< dec << si->std_rx_mailbox_size |
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Implemented going to bootstrap state BOOT.
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parents:
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228 |
<< ", TX: 0x" |
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63e4bc918640
Implemented going to bootstrap state BOOT.
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229 |
<< hex << setw(4) << si->std_tx_mailbox_offset << "/" |
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63e4bc918640
Implemented going to bootstrap state BOOT.
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parents:
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|
230 |
<< dec << si->std_tx_mailbox_size << endl |
| 1151 | 231 |
<< " Supported protocols: "; |
232 |
||
233 |
if (si->mailbox_protocols & EC_MBOX_AOE) {
|
|
234 |
protoList.push_back("AoE");
|
|
235 |
} |
|
236 |
if (si->mailbox_protocols & EC_MBOX_EOE) {
|
|
237 |
protoList.push_back("EoE");
|
|
238 |
} |
|
239 |
if (si->mailbox_protocols & EC_MBOX_COE) {
|
|
240 |
protoList.push_back("CoE");
|
|
241 |
} |
|
242 |
if (si->mailbox_protocols & EC_MBOX_FOE) {
|
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243 |
protoList.push_back("FoE");
|
|
244 |
} |
|
245 |
if (si->mailbox_protocols & EC_MBOX_SOE) {
|
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246 |
protoList.push_back("SoE");
|
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247 |
} |
|
248 |
if (si->mailbox_protocols & EC_MBOX_VOE) {
|
|
249 |
protoList.push_back("VoE");
|
|
250 |
} |
|
251 |
||
252 |
for (protoIter = protoList.begin(); protoIter != protoList.end(); |
|
253 |
protoIter++) {
|
|
254 |
if (protoIter != protoList.begin()) |
|
255 |
cout << ", "; |
|
256 |
cout << *protoIter; |
|
257 |
} |
|
258 |
cout << endl; |
|
259 |
} |
|
260 |
||
261 |
if (si->has_general_category) {
|
|
262 |
cout << "General:" << endl |
|
263 |
<< " Group: " << si->group << endl |
|
264 |
<< " Image name: " << si->image << endl |
|
265 |
<< " Order number: " << si->order << endl |
|
266 |
<< " Device name: " << si->name << endl; |
|
267 |
||
268 |
if (si->mailbox_protocols & EC_MBOX_COE) {
|
|
269 |
cout << " CoE details:" << endl |
|
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
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parents:
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diff
changeset
|
270 |
<< " Enable SDO: " |
| 1151 | 271 |
<< (si->coe_details.enable_sdo ? "yes" : "no") << endl |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
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parents:
1636
diff
changeset
|
272 |
<< " Enable SDO Info: " |
| 1151 | 273 |
<< (si->coe_details.enable_sdo_info ? "yes" : "no") << endl |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
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parents:
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changeset
|
274 |
<< " Enable PDO Assign: " |
| 1151 | 275 |
<< (si->coe_details.enable_pdo_assign |
276 |
? "yes" : "no") << endl |
|
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1636
diff
changeset
|
277 |
<< " Enable PDO Configuration: " |
| 1151 | 278 |
<< (si->coe_details.enable_pdo_configuration |
279 |
? "yes" : "no") << endl |
|
280 |
<< " Enable Upload at startup: " |
|
281 |
<< (si->coe_details.enable_upload_at_startup |
|
282 |
? "yes" : "no") << endl |
|
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1636
diff
changeset
|
283 |
<< " Enable SDO complete access: " |
| 1151 | 284 |
<< (si->coe_details.enable_sdo_complete_access |
285 |
? "yes" : "no") << endl; |
|
286 |
} |
|
287 |
||
288 |
cout << " Flags:" << endl |
|
289 |
<< " Enable SafeOp: " |
|
290 |
<< (si->general_flags.enable_safeop ? "yes" : "no") << endl |
|
291 |
<< " Enable notLRW: " |
|
292 |
<< (si->general_flags.enable_not_lrw ? "yes" : "no") << endl |
|
293 |
<< " Current consumption: " |
|
294 |
<< dec << si->current_on_ebus << " mA" << endl; |
|
295 |
} |
|
296 |
} |
|
297 |
} |
|
298 |
||
299 |
/****************************************************************************/ |
|
300 |
||
301 |
bool CommandSlaves::slaveInList( |
|
302 |
const ec_ioctl_slave_t &slave, |
|
303 |
const SlaveList &slaves |
|
304 |
) |
|
305 |
{
|
|
306 |
SlaveList::const_iterator si; |
|
307 |
||
308 |
for (si = slaves.begin(); si != slaves.end(); si++) {
|
|
309 |
if (si->position == slave.position) {
|
|
310 |
return true; |
|
311 |
} |
|
312 |
} |
|
313 |
||
314 |
return false; |
|
| 1142 | 315 |
} |
316 |
||
317 |
/*****************************************************************************/ |