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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 <iostream>

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#include <iomanip>

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#include <string.h>

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using namespace std;

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#include "CommandXml.h"

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/*****************************************************************************/

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CommandXml::CommandXml():

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    Command("xml", "Generate slave information XML.")

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{

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}

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/*****************************************************************************/

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string CommandXml::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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        << "Note that the PDO information can either originate" << endl

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        << "from the SII or from the CoE communication area. For" << endl

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        << "slaves, that support configuring PDO assignment and" << endl

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        << "mapping, the output depends on the last configuration." << endl

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        << endl

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        << "Command-specific options:" << endl

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        << "  --alias    -a <alias>" << endl

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        << "  --position -p <pos>    Slave selection. See the help of" << endl

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        << "                         the 'slaves' command." << 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 CommandXml::execute(MasterDevice &m, const StringVector &args)

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{

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    SlaveList slaves;

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    SlaveList::const_iterator si;

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    m.open(MasterDevice::Read);

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    slaves = selectedSlaves(m);

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    for (si = slaves.begin(); si != slaves.end(); si++) {

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        generateSlaveXml(m, *si);

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    }

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}

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/****************************************************************************/

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void CommandXml::generateSlaveXml(

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        MasterDevice &m,

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        const ec_ioctl_slave_t &slave

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        )

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{

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    ec_ioctl_slave_sync_t sync;

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    ec_ioctl_slave_sync_pdo_t pdo;

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    string pdoType;

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    ec_ioctl_slave_sync_pdo_entry_t entry;

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    unsigned int i, j, k;

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    cout

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        << "<?xml version=\"1.0\" ?>" << endl

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        << "  <EtherCATInfo>" << endl

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        << "    <!-- Slave " << slave.position << " -->" << endl

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        << "    <Vendor>" << endl

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        << "      <Id>" << slave.vendor_id << "</Id>" << endl

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        << "    </Vendor>" << endl

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        << "    <Descriptions>" << endl

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        << "      <Devices>" << endl

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        << "        <Device>" << endl

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        << "          <Type ProductCode=\"#x"

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        << hex << setfill('0') << setw(8) << slave.product_code

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        << "\" RevisionNo=\"#x"

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        << hex << setfill('0') << setw(8) << slave.revision_number

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        << "\">" << slave.order << "</Type>" << endl;

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    if (strlen(slave.name)) {

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        cout

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            << "          <Name><![CDATA["

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            << slave.name

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            << "]]></Name>" << endl;

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    }

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    for (i = 0; i < slave.sync_count; i++) {

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        m.getSync(&sync, slave.position, i);

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        cout

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            << "          <Sm Enable=\"" << dec << (unsigned int) sync.enable

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            << "\" StartAddress=\"" << sync.physical_start_address

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            << "\" ControlByte=\"" << (unsigned int) sync.control_register

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            << "\" DefaultSize=\"" << sync.default_size

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            << "\" />" << endl;

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    }

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    for (i = 0; i < slave.sync_count; i++) {

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        m.getSync(&sync, slave.position, i);

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        for (j = 0; j < sync.pdo_count; j++) {

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            m.getPdo(&pdo, slave.position, i, j);

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            pdoType = (sync.control_register & 0x04 ? "R" : "T");

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            pdoType += "xPdo"; // last 2 letters lowercase in XML!

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            cout

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                << "          <" << pdoType

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                << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl

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                << "            <Index>#x"

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                << hex << setfill('0') << setw(4) << pdo.index

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                << "</Index>" << endl

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                << "            <Name>" << pdo.name << "</Name>" << endl;

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            for (k = 0; k < pdo.entry_count; k++) {

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                m.getPdoEntry(&entry, slave.position, i, j, k);

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                cout

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                    << "            <Entry>" << endl

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                    << "              <Index>#x"

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                    << hex << setfill('0') << setw(4) << entry.index

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                    << "</Index>" << endl;

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                if (entry.index)

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                    cout

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                        << "              <SubIndex>"

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                        << dec << (unsigned int) entry.subindex

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                        << "</SubIndex>" << endl;

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                cout

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                    << "              <BitLen>"

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                    << dec << (unsigned int) entry.bit_length

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                    << "</BitLen>" << endl;

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                if (entry.index) {

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                    cout

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                        << "              <Name>" << entry.name

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                        << "</Name>" << endl

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                        << "              <DataType>";

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                    if (entry.bit_length == 1) {

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                        cout << "BOOL";

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                    } else if (!(entry.bit_length % 8)) {

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                        if (entry.bit_length <= 64)

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                            cout << "UINT" << (unsigned int) entry.bit_length;

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                        else

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                            cout << "STRING("

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                                << (unsigned int) (entry.bit_length / 8)

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                                << ")";

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                    } else {

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                        cerr << "Invalid bit length "

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                            << (unsigned int) entry.bit_length << endl;

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                    }

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                        cout << "</DataType>" << endl;

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                }

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                cout << "            </Entry>" << endl;

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            }

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            cout

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                << "          </" << pdoType << ">" << endl;

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        }

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    }

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    cout

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        << "        </Device>" << endl

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        << "     </Devices>" << endl

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        << "  </Descriptions>" << endl

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        << "</EtherCATInfo>" << endl;

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}

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/*****************************************************************************/