author | Florian Pose <fp@igh-essen.com> |
Fri, 01 Aug 2008 10:10:55 +0000 | |
changeset 1184 | 75cd6681eb08 |
parent 1172 | 74ee632c3b5e |
child 1188 | 3b4e82d9904b |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
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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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18 |
CommandConfig::CommandConfig(): |
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19 |
Command("config", "Show slave configurations.") |
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20 |
{ |
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21 |
} |
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22 |
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/*****************************************************************************/ |
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25 |
string CommandConfig::helpString() const |
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26 |
{ |
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27 |
stringstream str; |
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28 |
||
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Bugfixes and improvements.
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29 |
str << getName() << " [OPTIONS]" << endl |
7dbfdd61812c
Bugfixes and improvements.
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parents:
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30 |
<< endl |
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Bugfixes and improvements.
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parents:
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<< getBriefDescription() << endl |
1142 | 32 |
<< endl |
33 |
<< "Without the --verbose option, slave configurations are" << endl |
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34 |
<< "output one-per-line. Example:" << endl |
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35 |
<< endl |
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36 |
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl |
1142 | 37 |
<< "| | | |" << endl |
1147
0eac1ee8512a
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parents:
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38 |
<< "| | | \\- Application-layer" << endl |
0eac1ee8512a
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parents:
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39 |
<< "| | | state of the attached" << endl |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
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40 |
<< "| | | slave, or '-', if no" << endl |
0eac1ee8512a
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parents:
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<< "| | | slave is attached." << endl |
0eac1ee8512a
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parents:
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42 |
<< "| | \\- Absolute decimal ring" << endl |
0eac1ee8512a
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parents:
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43 |
<< "| | position of the attached" << endl |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
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44 |
<< "| | slave, or '-' if none" << endl |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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<< "| | attached." << endl |
1157
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Added --help for alias and position parameters.
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46 |
<< "| \\- Expected vendor ID and product code (both" << endl |
1144
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<< "| hexadecimal)." << endl |
1157
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Florian Pose <fp@igh-essen.com>
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|
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<< "\\- Alias address and relative position (both decimal)." << endl |
1142 | 49 |
<< endl |
50 |
<< "With the --verbose option given, the configured Pdos and" << endl |
|
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7dbfdd61812c
Bugfixes and improvements.
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<< "Sdos are output in addition." << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
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52 |
<< endl |
04d1c950cf9d
Added --help for alias and position parameters.
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53 |
<< "Configuration selection:" << endl |
04d1c950cf9d
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|
54 |
<< " Slave configurations can be selected with" << endl |
04d1c950cf9d
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|
55 |
<< " the --alias and --position parameters as follows:" << endl |
04d1c950cf9d
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<< endl |
04d1c950cf9d
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<< " 1) If neither the --alias nor the --position option" << endl |
1167 | 58 |
<< " is given, all slave configurations are displayed." << endl |
1157
04d1c950cf9d
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<< " 2) If only the --position option is given, an alias" << endl |
04d1c950cf9d
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parents:
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<< " of zero is assumed (see 4))." << endl |
04d1c950cf9d
Added --help for alias and position parameters.
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parents:
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|
61 |
<< " 3) If only the --alias option is given, all slave" << endl |
04d1c950cf9d
Added --help for alias and position parameters.
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parents:
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|
62 |
<< " configurations with the given alias address" << endl |
1167 | 63 |
<< " are displayed." << endl |
1157
04d1c950cf9d
Added --help for alias and position parameters.
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parents:
1156
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|
64 |
<< " 4) If both the --alias and the --position option are" << endl |
1167 | 65 |
<< " given, the selection can match a single" << endl |
66 |
<< " configuration, that is displayed, if it exists." << endl |
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1142 | 67 |
<< endl |
68 |
<< "Command-specific options:" << endl |
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1157
04d1c950cf9d
Added --help for alias and position parameters.
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parents:
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69 |
<< " --alias -a <alias> Configuration alias (see above)." << endl |
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
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70 |
<< " --position -p <pos> Relative position (see above)." << endl |
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
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|
71 |
<< " --verbose -v Show detailed configurations." << endl |
04d1c950cf9d
Added --help for alias and position parameters.
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parents:
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72 |
<< endl |
04d1c950cf9d
Added --help for alias and position parameters.
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<< numericInfo(); |
1142 | 74 |
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return str.str(); |
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76 |
} |
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/*****************************************************************************/ |
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79 |
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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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83 |
{ |
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Implemented alias and position for configs.
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parents:
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84 |
ConfigList configs; |
1142 | 85 |
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m.open(MasterDevice::Read); |
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1156
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
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configs = selectedConfigs(m); |
1142 | 88 |
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if (getVerbosity() == Verbose) { |
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1156
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
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90 |
showDetailedConfigs(m, configs); |
1142 | 91 |
} else { |
1156
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Implemented alias and position for configs.
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parents:
1148
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92 |
listConfigs(m, configs); |
1142 | 93 |
} |
94 |
} |
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95 |
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96 |
/*****************************************************************************/ |
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97 |
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98 |
/** 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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102 |
const ConfigList &configList |
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103 |
) |
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104 |
{ |
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ConfigList::const_iterator configIter; |
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unsigned int j, k, l; |
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107 |
ec_ioctl_slave_t slave; |
1142 | 108 |
ec_ioctl_config_pdo_t pdo; |
109 |
ec_ioctl_config_pdo_entry_t entry; |
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ec_ioctl_config_sdo_t sdo; |
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111 |
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112 |
for (configIter = configList.begin(); |
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113 |
configIter != configList.end(); |
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114 |
configIter++) { |
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115 |
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116 |
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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125 |
|
0eac1ee8512a
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parents:
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126 |
if (configIter->slave_position != -1) { |
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m.getSlave(&slave, configIter->slave_position); |
1172
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Fixed attached slave position in 'ethercat config' -> decimal.
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parents:
1167
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128 |
cout << dec << configIter->slave_position |
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Renamed state field to al_state.
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<< " (" << alStateString(slave.al_state) << ")" << endl; |
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130 |
} else { |
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131 |
cout << "none" << endl; |
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132 |
} |
1142 | 133 |
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134 |
for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { |
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135 |
if (configIter->syncs[j].pdo_count) { |
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136 |
cout << "SM" << dec << j << " (" |
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137 |
<< (configIter->syncs[j].dir == EC_DIR_INPUT |
|
138 |
? "Input" : "Output") << ")" << endl; |
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139 |
for (k = 0; k < configIter->syncs[j].pdo_count; k++) { |
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140 |
m.getConfigPdo(&pdo, configIter->config_index, j, k); |
|
141 |
||
142 |
cout << " Pdo 0x" << hex |
|
143 |
<< setw(4) << pdo.index |
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144 |
<< " \"" << pdo.name << "\"" << endl; |
|
145 |
||
146 |
for (l = 0; l < pdo.entry_count; l++) { |
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147 |
m.getConfigPdoEntry(&entry, |
|
148 |
configIter->config_index, j, k, l); |
|
149 |
||
150 |
cout << " Pdo entry 0x" << hex |
|
151 |
<< setw(4) << entry.index << ":" |
|
152 |
<< setw(2) << (unsigned int) entry.subindex |
|
153 |
<< ", " << dec << (unsigned int) entry.bit_length |
|
154 |
<< " bit, \"" << entry.name << "\"" << endl; |
|
155 |
} |
|
156 |
} |
|
157 |
} |
|
158 |
} |
|
159 |
||
160 |
cout << "Sdo configuration:" << endl; |
|
161 |
if (configIter->sdo_count) { |
|
162 |
for (j = 0; j < configIter->sdo_count; j++) { |
|
163 |
m.getConfigSdo(&sdo, configIter->config_index, j); |
|
164 |
||
165 |
cout << " 0x" |
|
166 |
<< hex << setfill('0') |
|
167 |
<< setw(4) << sdo.index << ":" |
|
168 |
<< setw(2) << (unsigned int) sdo.subindex |
|
169 |
<< ", " << dec << sdo.size << " byte: " << hex; |
|
170 |
||
171 |
switch (sdo.size) { |
|
172 |
case 1: |
|
173 |
cout << "0x" << setw(2) |
|
174 |
<< (unsigned int) *(uint8_t *) &sdo.data; |
|
175 |
break; |
|
176 |
case 2: |
|
177 |
cout << "0x" << setw(4) |
|
178 |
<< le16tocpu(*(uint16_t *) &sdo.data); |
|
179 |
break; |
|
180 |
case 4: |
|
181 |
cout << "0x" << setw(8) |
|
182 |
<< le32tocpu(*(uint32_t *) &sdo.data); |
|
183 |
break; |
|
184 |
default: |
|
185 |
cout << "???"; |
|
186 |
} |
|
187 |
||
188 |
cout << endl; |
|
189 |
} |
|
190 |
} else { |
|
191 |
cout << " None." << endl; |
|
192 |
} |
|
193 |
||
194 |
cout << endl; |
|
195 |
} |
|
196 |
} |
|
197 |
||
198 |
/*****************************************************************************/ |
|
199 |
||
200 |
/** Lists the bus configuration. |
|
201 |
*/ |
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Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
202 |
void CommandConfig::listConfigs( |
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parents:
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203 |
MasterDevice &m, |
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|
204 |
const ConfigList &configList |
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205 |
) |
1142 | 206 |
{ |
207 |
ConfigList::const_iterator configIter; |
|
208 |
stringstream str; |
|
209 |
Info info; |
|
210 |
typedef list<Info> InfoList; |
|
211 |
InfoList list; |
|
212 |
InfoList::const_iterator iter; |
|
213 |
unsigned int maxAliasWidth = 0, maxPosWidth = 0, |
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214 |
maxSlavePosWidth = 0, maxStateWidth = 0; |
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parents:
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|
215 |
ec_ioctl_slave_t slave; |
1142 | 216 |
|
217 |
for (configIter = configList.begin(); |
|
218 |
configIter != configList.end(); |
|
219 |
configIter++) { |
|
220 |
||
221 |
str << dec << configIter->alias; |
|
222 |
info.alias = str.str(); |
|
223 |
str.clear(); |
|
224 |
str.str(""); |
|
225 |
||
226 |
str << configIter->position; |
|
227 |
info.pos = str.str(); |
|
228 |
str.clear(); |
|
229 |
str.str(""); |
|
230 |
||
231 |
str << hex << setfill('0') |
|
232 |
<< "0x" << setw(8) << configIter->vendor_id |
|
233 |
<< "/0x" << setw(8) << configIter->product_code; |
|
234 |
info.ident = str.str(); |
|
235 |
str.clear(); |
|
236 |
str.str(""); |
|
237 |
||
1147
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Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
238 |
if (configIter->slave_position != -1) { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
239 |
m.getSlave(&slave, configIter->slave_position); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
|
240 |
|
1172
74ee632c3b5e
Fixed attached slave position in 'ethercat config' -> decimal.
Florian Pose <fp@igh-essen.com>
parents:
1167
diff
changeset
|
241 |
str << dec << configIter->slave_position; |
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
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|
242 |
info.slavePos = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
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parents:
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|
243 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
244 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
245 |
|
1148
1762296870bd
Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents:
1147
diff
changeset
|
246 |
str << alStateString(slave.al_state); |
1147
0eac1ee8512a
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Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
247 |
info.state = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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changeset
|
248 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
249 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
250 |
} else { |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
251 |
str << "-"; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
252 |
info.slavePos = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
253 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
254 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
255 |
|
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Show attached slave position and state in 'ethercat config'.
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parents:
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diff
changeset
|
256 |
str << "-"; |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
257 |
info.state = str.str(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
258 |
str.clear(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
259 |
str.str(""); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
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|
260 |
} |
1142 | 261 |
|
262 |
list.push_back(info); |
|
263 |
||
264 |
if (info.alias.length() > maxAliasWidth) |
|
265 |
maxAliasWidth = info.alias.length(); |
|
266 |
if (info.pos.length() > maxPosWidth) |
|
267 |
maxPosWidth = info.pos.length(); |
|
1147
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
268 |
if (info.slavePos.length() > maxSlavePosWidth) |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
269 |
maxSlavePosWidth = info.slavePos.length(); |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
270 |
if (info.state.length() > maxStateWidth) |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
271 |
maxStateWidth = info.state.length(); |
1142 | 272 |
} |
273 |
||
274 |
for (iter = list.begin(); iter != list.end(); iter++) { |
|
275 |
cout << setfill(' ') << right |
|
276 |
<< setw(maxAliasWidth) << iter->alias |
|
277 |
<< ":" << left |
|
278 |
<< setw(maxPosWidth) << iter->pos |
|
279 |
<< " " |
|
280 |
<< iter->ident |
|
281 |
<< " " |
|
1147
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Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
282 |
<< setw(maxSlavePosWidth) << iter->slavePos << " " |
0eac1ee8512a
Show attached slave position and state in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
283 |
<< setw(maxStateWidth) << iter->state << " " |
1142 | 284 |
<< endl; |
285 |
} |
|
286 |
} |
|
287 |
||
288 |
/*****************************************************************************/ |