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

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 *

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 *  $Id$

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 *

     5

 *  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 <list>

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#include <string.h>

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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

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        << "|  |    |  |      \\- 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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    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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    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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            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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void CommandSlaves::showSlaves(

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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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    SlaveList::const_iterator si;

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    int i;

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

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        cout << "=== Slave " << dec << si->position << " ===" << endl;

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        if (si->alias)

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            cout << "Alias: " << si->alias << endl;

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        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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        cout << "DL information:" << endl

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            << "  FMMU bit operation: "

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            << (si->fmmu_bit ? "yes" : "no") << endl

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            << "  Distributed clocks: ";

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        if (si->dc_supported) {

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            if (si->has_dc_system_time) {

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                cout << "yes, ";

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                switch (si->dc_range) {

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                    case EC_DC_32:

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                        cout << "32 bit";

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                        break;

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                    case EC_DC_64:

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                        cout << "64 bit";

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                        break;

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                    default:

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                        cout << "???";

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                }

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                cout << endl;

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            } else {

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                cout << "yes, delay measurement only" << endl;

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            }

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            cout << "  DC system time transmission delay: "

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                << dec << si->transmission_delay << " ns" << endl;

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        } else {

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            cout << "no" << endl;

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        }

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        cout << "Port  Type  Link  Loop    Signal  NextSlave";

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        if (si->dc_supported)

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            cout << "  RxTime [ns]  Diff [ns]   NextDc [ns]";

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        cout << endl;

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        for (i = 0; i < EC_MAX_PORTS; i++) {

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            cout << "   " << i << "  " << setfill(' ') << left << setw(4);

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            switch (si->ports[i].desc) {

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                case EC_PORT_NOT_IMPLEMENTED:

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                    cout << "N/A";

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                    break;

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                case EC_PORT_NOT_CONFIGURED:

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                    cout << "N/C";

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                    break;

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                case EC_PORT_EBUS:

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                    cout << "EBUS";

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                    break;

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                case EC_PORT_MII:

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                    cout << "MII";

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                    break;

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                default:

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                    cout << "???";

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            }

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            cout << "  " << setw(4)

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                << (si->ports[i].link.link_up ? "up" : "down")

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                << "  " << setw(6)

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                << (si->ports[i].link.loop_closed ? "closed" : "open")

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                << "  " << setw(6)

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                << (si->ports[i].link.signal_detected ? "yes" : "no")

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                << "  " << setw(9) << right;

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            if (si->ports[i].next_slave != 0xffff) {

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                cout << dec << si->ports[i].next_slave;

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            } else {

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                cout << "-";

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            }

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            if (si->dc_supported) {

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                cout << "  " << setw(11) << right;

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                if (!si->ports[i].link.loop_closed) {

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                    cout << dec << si->ports[i].receive_time;

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                } else {

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                    cout << "-";

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                }

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                cout << "  " << setw(10);

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                if (!si->ports[i].link.loop_closed) {

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                    cout << si->ports[i].receive_time - si->ports[0].receive_time;

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                } else {

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                    cout << "-";

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                }

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                cout << "  " << setw(10);

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                if (!si->ports[i].link.loop_closed) {

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                    cout << si->ports[i].delay_to_next_dc;

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                } else {

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                    cout << "-";

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                }

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            }

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            cout << endl;

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        }

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        if (si->mailbox_protocols) {

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            list<string> protoList;

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            list<string>::const_iterator protoIter;

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            cout << "Mailboxes:" << endl

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                << "  Bootstrap RX: 0x" << setfill('0')

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                << hex << setw(4) << si->boot_rx_mailbox_offset << "/"

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                << dec << si->boot_rx_mailbox_size

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                << ", TX: 0x"

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                << hex << setw(4) << si->boot_tx_mailbox_offset << "/"

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                << dec << si->boot_tx_mailbox_size << endl

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                << "  Standard  RX: 0x"

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                << hex << setw(4) << si->std_rx_mailbox_offset << "/"

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                << dec << si->std_rx_mailbox_size

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                << ", TX: 0x"

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                << hex << setw(4) << si->std_tx_mailbox_offset << "/"

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                << dec << si->std_tx_mailbox_size << endl

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                << "  Supported protocols: ";

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            if (si->mailbox_protocols & EC_MBOX_AOE) {

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                protoList.push_back("AoE");

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            }

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            if (si->mailbox_protocols & EC_MBOX_EOE) {

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                protoList.push_back("EoE");

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            }

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            if (si->mailbox_protocols & EC_MBOX_COE) {

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                protoList.push_back("CoE");

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            }

   361

            if (si->mailbox_protocols & EC_MBOX_FOE) {

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                protoList.push_back("FoE");

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            }

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            if (si->mailbox_protocols & EC_MBOX_SOE) {

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                protoList.push_back("SoE");

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            }

   367

            if (si->mailbox_protocols & EC_MBOX_VOE) {

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                protoList.push_back("VoE");

   369

            }

   370

   371

            for (protoIter = protoList.begin(); protoIter != protoList.end();

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                    protoIter++) {

   373

                if (protoIter != protoList.begin())

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                    cout << ", ";

   375

                cout << *protoIter;

   376

            }

   377

            cout << endl;

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        }

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   380

        if (si->has_general_category) {

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            cout << "General:" << endl

   382

                << "  Group: " << si->group << endl

   383

                << "  Image name: " << si->image << endl

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                << "  Order number: " << si->order << endl

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                << "  Device name: " << si->name << endl;

   386

   387

            if (si->mailbox_protocols & EC_MBOX_COE) {

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                cout << "  CoE details:" << endl

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                    << "    Enable SDO: "

   390

                    << (si->coe_details.enable_sdo ? "yes" : "no") << endl

   391

                    << "    Enable SDO Info: "

   392

                    << (si->coe_details.enable_sdo_info ? "yes" : "no") << endl

   393

                    << "    Enable PDO Assign: "

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                    << (si->coe_details.enable_pdo_assign

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                            ? "yes" : "no") << endl

   396

                    << "    Enable PDO Configuration: "

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                    << (si->coe_details.enable_pdo_configuration

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                            ? "yes" : "no") << endl

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                    << "    Enable Upload at startup: "

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                    << (si->coe_details.enable_upload_at_startup

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                            ? "yes" : "no") << endl

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                    << "    Enable SDO complete access: "

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                    << (si->coe_details.enable_sdo_complete_access

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                            ? "yes" : "no") << endl;

   405

            }

   406

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            cout << "  Flags:" << endl

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                << "    Enable SafeOp: "

   409

                << (si->general_flags.enable_safeop ? "yes" : "no") << endl

   410

                << "    Enable notLRW: "

   411

                << (si->general_flags.enable_not_lrw ? "yes" : "no") << endl

   412

                << "  Current consumption: "

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                << dec << si->current_on_ebus << " mA" << endl;

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        }

   415

    }

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}

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

   419

   420

bool CommandSlaves::slaveInList(

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        const ec_ioctl_slave_t &slave,

   422

        const SlaveList &slaves

   423

        )

   424

{

   425

    SlaveList::const_iterator si;

   426

   427

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

   428

        if (si->position == slave.position) {

   429

            return true;

   430

        }

   431

    }

   432

   433

    return false;

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}

   435

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