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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 "CommandCStruct.h"

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#include "MasterDevice.h"

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

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CommandCStruct::CommandCStruct():

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    Command("cstruct", "Generate slave PDO information in C language.")

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{

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}

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

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string CommandCStruct::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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        << "The output C code can be used directly with the" << endl

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        << "ecrt_slave_config_pdos() function of the application" << endl

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        << "interface." << 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 CommandCStruct::execute(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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    if (args.size()) {

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        stringstream err;

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        err << "'" << getName() << "' takes no arguments!";

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        throwInvalidUsageException(err);

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    }

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    MasterIndexList::const_iterator mi;

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    for (mi = getMasterIndices().begin();

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            mi != getMasterIndices().end(); mi++) {

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        MasterDevice m(*mi);

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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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            generateSlaveCStruct(m, *si);

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        }

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    }

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}

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

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void CommandCStruct::generateSlaveCStruct(

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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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    ec_ioctl_slave_sync_pdo_entry_t entry;

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    unsigned int i, j, k, pdo_pos = 0, entry_pos = 0;

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    stringstream id, syncs, pdos, entries;

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    if (!slave.sync_count)

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        return;

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    id << "slave_" << dec << slave.position << "_";

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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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        syncs << "   {" << dec << sync.sync_index

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            << ", " << (EC_READ_BIT(&sync.control_register, 2) ?

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                    "EC_DIR_OUTPUT" : "EC_DIR_INPUT")

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            << ", " << dec << (unsigned int) sync.pdo_count

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            << ", ";

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        if (sync.pdo_count) {

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            syncs << id.str() << "pdos + " << dec << pdo_pos;

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        } else {

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            syncs << "NULL";

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        }

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        syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ?

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                "EC_WD_ENABLE" : "EC_WD_DISABLE")

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            << "},";

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        syncs << endl;

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        pdo_pos += sync.pdo_count;

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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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            pdos << "   {0x" << hex << setfill('0')

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                << setw(4) << pdo.index

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                << ", " << dec << (unsigned int) pdo.entry_count

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                << ", ";

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                if (pdo.entry_count) {

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                    pdos << id.str() << "pdo_entries + " << dec << entry_pos;

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                } else {

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                    pdos << "NULL";

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                }

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            pdos << "},";

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            if (strlen((const char *) pdo.name)) {

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                pdos << " /* " << pdo.name << " */";

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            }

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            pdos << endl;

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            entry_pos += pdo.entry_count;

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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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                entries << "   {0x" << hex << setfill('0')

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                    << setw(4) << entry.index

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                    << ", 0x" << setw(2) << (unsigned int) entry.subindex

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

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                    << "},";

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                if (strlen((const char *) entry.name)) {

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                    entries << " /* " << entry.name << " */";

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                }

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                entries << endl;

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            }

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        }

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    }

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    cout

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        << "/* Master " << m.getIndex() << ", Slave " << slave.position;

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    if (strlen(slave.order)) {

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        cout << ", \"" << slave.order << "\"";

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    }

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    cout << endl

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        << " * Vendor ID:       0x" << hex << setfill('0')

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        << setw(8) << slave.vendor_id << endl

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        << " * Product code:    0x" << hex << setfill('0')

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        << setw(8) << slave.product_code << endl

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        << " * Revision number: 0x" << hex << setfill('0')

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        << setw(8) << slave.revision_number << endl 

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        << " */" << endl

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        << endl;

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    if (entry_pos) {

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        cout << "ec_pdo_entry_info_t " << id.str()

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            << "pdo_entries[] = {" << endl

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            << entries.str()

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            << "};" << endl

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            << endl;

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    }

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    if (pdo_pos) {

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        cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl

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            << pdos.str()

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            << "};" << endl

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            << endl;

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    }

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    cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl

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        << syncs.str()

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        << "};" << endl

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        << endl;

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}

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