tool/Command.cpp
author Florian Pose <fp@igh-essen.com>
Fri, 19 Mar 2010 12:40:08 +0100
changeset 1879 7539329b5cf6
parent 1870 0cee1fb7f0fd
child 1880 f46bec1b5f21
permissions -rw-r--r--
Removed tabs.
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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 "Command.h"
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#include "MasterDevice.h"
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#include "NumberListParser.h"
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/*****************************************************************************/
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class MasterIndexParser:
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    public NumberListParser
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{
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    unsigned int getMax()
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    {
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        MasterDevice dev;
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        dev.setIndex(0U);
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        dev.open(MasterDevice::Read);
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        return dev.getMasterCount() - 1;
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    };
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};
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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::setMasters(const string &m)
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{
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    masters = m;
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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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    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 string &msg) const
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{
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    throw CommandException(msg);
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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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/*****************************************************************************/
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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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    throwInvalidUsageException(err);
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}
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/*****************************************************************************/
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Command::MasterIndexList Command::getMasterIndices() const
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{
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	MasterIndexList indices;
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    try {
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        MasterIndexParser p;
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        indices = p.parse(masters.c_str());
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    } catch (MasterDeviceException &e) {
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		stringstream err;
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		err << "Failed to obtain number of masters: " << e.what();
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		throwCommandException(err);
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    } catch (runtime_error &e) {
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		stringstream err;
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        err << "Invalid master argument '" << masters << "': " << e.what();
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		throwInvalidUsageException(err);
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    }
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	return indices;
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}
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/*****************************************************************************/
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unsigned int Command::getSingleMasterIndex() const
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{
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	MasterIndexList masterIndices = getMasterIndices();
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   215
    if (masterIndices.size() != 1) {
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		stringstream err;
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   217
        err << getName() << " requires to select a single master!";
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   218
        throwInvalidUsageException(err);
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   219
    }
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	return masterIndices.front();
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   221
}
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   222
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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/*****************************************************************************/
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   224
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Command::SlaveList Command::selectedSlaves(MasterDevice &m)
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{
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f02ff486b313 Removed MasterDevice::slaveCount().
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    ec_ioctl_master_t master;
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   228
    unsigned int i, aliasIndex;
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   229
    uint16_t lastAlias;
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   230
    ec_ioctl_slave_t slave;
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   231
    SlaveList list;
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   232
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   233
    m.getMaster(&master);
f02ff486b313 Removed MasterDevice::slaveCount().
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   234
1151
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   235
    if (alias == -1) { // no alias given
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   236
        if (position == -1) { // no alias and position given
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            // all items
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   238
            for (i = 0; i < master.slave_count; i++) {
1151
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   239
                m.getSlave(&slave, i);
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   240
                list.push_back(slave);
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   241
            }
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   242
        } else { // no alias, but position given
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   243
            // one item by position
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   244
            m.getSlave(&slave, position);
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   245
            list.push_back(slave);
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diff changeset
   246
        }
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   247
    } else { // alias given
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   248
        if (position == -1) { // alias, but no position given
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   249
            // take all items with a given alias
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   250
            lastAlias = 0;
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   251
            for (i = 0; i < master.slave_count; i++) {
1151
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   252
                m.getSlave(&slave, i);
1fc1535dec29 Alias/Position selection.
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   253
                if (slave.alias) {
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   254
                    lastAlias = slave.alias;
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   255
                }
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   256
                if (lastAlias == (uint16_t) alias) {
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   257
                    list.push_back(slave);
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   258
                }
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   259
            }
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   260
        } else { // alias and position given
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   261
            lastAlias = 0;
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   262
            aliasIndex = 0;
1160
f02ff486b313 Removed MasterDevice::slaveCount().
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   263
            for (i = 0; i < master.slave_count; i++) {
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   264
                m.getSlave(&slave, i);
1159
25cc77cf3993 Improved alias/position addressing in case od duplicated aliases.
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   265
                if (slave.alias && slave.alias == (uint16_t) alias) {
1151
1fc1535dec29 Alias/Position selection.
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   266
                    lastAlias = slave.alias;
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   267
                    aliasIndex = 0;
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   268
                }
1159
25cc77cf3993 Improved alias/position addressing in case od duplicated aliases.
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   269
                if (lastAlias && aliasIndex == (unsigned int) position) {
1151
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   270
                    list.push_back(slave);
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   271
                }
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   272
                aliasIndex++;
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   273
            }
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   274
        }
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   275
    }
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   276
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   277
    return list;
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   278
}
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   279
1156
ecaf2a896ea3 Implemented alias and position for configs.
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   280
/*****************************************************************************/
ecaf2a896ea3 Implemented alias and position for configs.
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   281
ecaf2a896ea3 Implemented alias and position for configs.
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   282
bool operator<(
ecaf2a896ea3 Implemented alias and position for configs.
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   283
        const ec_ioctl_config_t &a,
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   284
        const ec_ioctl_config_t &b
ecaf2a896ea3 Implemented alias and position for configs.
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   285
        )
ecaf2a896ea3 Implemented alias and position for configs.
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   286
{
ecaf2a896ea3 Implemented alias and position for configs.
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   287
    return a.alias < b.alias
ecaf2a896ea3 Implemented alias and position for configs.
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   288
        || (a.alias == b.alias && a.position < b.position);
ecaf2a896ea3 Implemented alias and position for configs.
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diff changeset
   289
}
ecaf2a896ea3 Implemented alias and position for configs.
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   290
ecaf2a896ea3 Implemented alias and position for configs.
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   291
/*****************************************************************************/
ecaf2a896ea3 Implemented alias and position for configs.
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   292
ecaf2a896ea3 Implemented alias and position for configs.
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   293
Command::ConfigList Command::selectedConfigs(MasterDevice &m)
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   294
{
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   295
    unsigned int i;
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   296
    ec_ioctl_master_t master;
ecaf2a896ea3 Implemented alias and position for configs.
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   297
    ec_ioctl_config_t config;
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   298
    ConfigList list;
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   299
    stringstream err;
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   300
ecaf2a896ea3 Implemented alias and position for configs.
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   301
    m.getMaster(&master);
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   302
1157
04d1c950cf9d Added --help for alias and position parameters.
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    if (alias == -1) { // no alias given
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        if (position == -1) { // no alias and position given
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            // all items
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                list.push_back(config);
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            }
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        } else { // no alias, but position given
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                if (!config.alias && config.position == position) {
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                    list.push_back(config);
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                    break; // there can be at most one matching
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                }
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            }
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        }
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    } else { // alias given
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        if (position == -1) { // alias, but no position given
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            // take all items with a given alias
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                if (config.alias == alias) {
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                    list.push_back(config);
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                }
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            }
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        } else { // alias and position given
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            for (i = 0; i < master.config_count; i++) {
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                m.getConfig(&config, i);
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                if (config.alias == alias && config.position == position) {
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                    list.push_back(config);
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                    break; // there can be at most one matching
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                }
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            }
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        }
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    }
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    list.sort();
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    return list;
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}
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   342
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/****************************************************************************/
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Command::DomainList Command::selectedDomains(MasterDevice &m)
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{
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    ec_ioctl_domain_t d;
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    DomainList list;
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    if (domain == -1) {
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        ec_ioctl_master_t master;
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        unsigned int i;
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   353
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   354
        m.getMaster(&master);
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   355
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   356
        for (i = 0; i < master.domain_count; i++) {
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   357
            m.getDomain(&d, i);
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   358
            list.push_back(d);
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   359
        }
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   360
    } else {
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   361
        m.getDomain(&d, domain);
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   362
        list.push_back(d);
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   363
    }
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   364
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   365
    return list;
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   366
}
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   367
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   368
/****************************************************************************/
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   369
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   370
string Command::alStateString(uint8_t state)
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   371
{
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   372
    switch (state) {
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   373
        case 1: return "INIT";
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   374
        case 2: return "PREOP";
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0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   375
        case 3: return "BOOT";
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   376
        case 4: return "SAFEOP";
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   377
        case 8: return "OP";
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   378
        default: return "???";
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   379
    }
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   380
}
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   381
f18d124d7fbc Moved slaveState() to Command::alStateString().
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   382
/****************************************************************************/