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

     2

 *

     3

 * $Id$

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 *

     5

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

     6

     7

#include <sys/types.h>

     8

#include <sys/stat.h>

     9

#include <fcntl.h>

    10

#include <errno.h>

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#include <sys/ioctl.h>

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    13

#include <iostream>

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#include <iomanip>

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#include <sstream>

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#include <fstream>

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#include <cctype> // toupper()

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#include <list>

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using namespace std;

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#include "Master.h"

    22

    23

#define swap16(x) \

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        ((uint16_t)( \

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        (((uint16_t)(x) & 0x00ffU) << 8) | \

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        (((uint16_t)(x) & 0xff00U) >> 8) ))

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#define swap32(x) \

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        ((uint32_t)( \

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        (((uint32_t)(x) & 0x000000ffUL) << 24) | \

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        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \

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        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \

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        (((uint32_t)(x) & 0xff000000UL) >> 24) ))

    33

    34

#if __BYTE_ORDER == __LITTLE_ENDIAN

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    36

#define le16tocpu(x) x

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#define le32tocpu(x) x

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    39

#define cputole16(x) x

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#define cputole32(x) x

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    42

#elif __BYTE_ORDER == __BIG_ENDIAN

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    44

#define le16tocpu(x) swap16(x)

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#define le32tocpu(x) swap32(x)

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#define cputole16(x) swap16(x)

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#define cputole32(x) swap32(x)

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#endif

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

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    54

struct CoEDataType {

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    const char *name;

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    uint16_t coeCode;

    57

    unsigned int byteSize;

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};

    59

    60

static const CoEDataType dataTypes[] = {

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    {"int8",   0x0002, 1},

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    {"int16",  0x0003, 2},

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    {"int32",  0x0004, 4},

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    {"uint8",  0x0005, 1},

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    {"uint16", 0x0006, 2},

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    {"uint32", 0x0007, 4},

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    {"string", 0x0009, 0},

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    {"raw",    0xffff, 0},

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    {}

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};

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

    73

    74

const CoEDataType *findDataType(const string &str)

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{

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    const CoEDataType *d;

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    78

    for (d = dataTypes; d->name; d++)

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        if (str == d->name)

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            return d;

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    82

    return NULL;

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}

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

    86

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const CoEDataType *findDataType(uint16_t code)

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{

    89

    const CoEDataType *d;

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    91

    for (d = dataTypes; d->name; d++)

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        if (code == d->coeCode)

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            return d;

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    return NULL;

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}

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

    99

   100

Master::Master()

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{

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    index = 0;

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    fd = -1;

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}

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

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Master::~Master()

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{

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    close();

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}

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

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void Master::setIndex(unsigned int i)

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{

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    index = i;

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}

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

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   122

/**

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 * Writes the Secondary slave address (alias) to the slave's SII.

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 */

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void Master::writeAlias(

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        int slavePosition,

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        bool force,

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        const vector<string> &commandArgs

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        )

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{

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    ec_ioctl_sii_t data;

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    ec_ioctl_slave_t slave;

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    unsigned int i;

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    uint16_t alias;

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    stringstream err, strAlias;

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    int number;

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   138

    if (commandArgs.size() != 1) {

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        stringstream err;

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        err << "'alias' takes exactly one argument!";

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        throw MasterException(err.str());

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    }

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    strAlias << commandArgs[0];

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    strAlias >> hex >> number;

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    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {

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        err << "Invalid alias '" << commandArgs[0] << "'!";

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        throw MasterException(err.str());

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    }

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    alias = number;

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    if (slavePosition == -1) {

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        unsigned int numSlaves, i;

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        if (!force) {

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            err << "This will write the alias addresses of all slaves to 0x"

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                << hex << setfill('0') << setw(4) << alias << "! "

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                << "Please specify --force to proceed.";

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            throw MasterException(err.str());

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        }

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        open(ReadWrite);

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        numSlaves = slaveCount();

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

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            writeSlaveAlias(i, alias);

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        }

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    } else {

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        open(ReadWrite);

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        writeSlaveAlias(slavePosition, alias);

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    }

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}

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

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/**

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 * Lists the bus configuration.

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 */

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void Master::showConfig()

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{

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    ec_ioctl_master_t master;

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    unsigned int i, j, k, l;

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    ec_ioctl_config_t config;

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    ec_ioctl_config_pdo_t pdo;

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    ec_ioctl_config_pdo_entry_t entry;

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    ec_ioctl_config_sdo_t sdo;

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    open(Read);

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    getMaster(&master);

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    for (i = 0; i < master.config_count; i++) {

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        getConfig(&config, i);

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        cout << "Alias: 0x"

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            << hex << setfill('0') << setw(4) << config.alias << endl

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            << "Position: " << dec << config.position << endl

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            << "Vendor Id: 0x"

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            << hex << setw(8) << config.vendor_id << endl

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            << "Product code: 0x"

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            << hex << setw(8) << config.product_code << endl

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            << "Attached: " << (config.attached ? "yes" : "no") << endl;

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        for (j = 0; j < 2; j++) {

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            if (config.pdo_count[j]) {

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                cout << (j ? "Input" : "Output")

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                    << " Pdo assignment / mapping " << endl;

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                for (k = 0; k < config.pdo_count[j]; k++) {

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                    getConfigPdo(&pdo, i, j, k);

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                    cout << "  Pdo 0x"

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

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                        << " \"" << pdo.name << "\"" << endl;

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

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                        getConfigPdoEntry(&entry, i, j, k, l);

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                        cout << "    Pdo entry 0x"

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

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                            << ":" << setw(2) << (unsigned int) entry.subindex

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

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                            << " bit, \"" << entry.name << "\"" << endl;

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                    }

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                }

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            }

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        }

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        if (config.sdo_count) {

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            cout << "Sdo configuration:" << endl;

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            for (j = 0; j < config.sdo_count; j++) {

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                getConfigSdo(&sdo, i, j);

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                cout << "  0x"

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

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                    << ":" << setw(2) << (unsigned int) sdo.subindex

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                    << ", " << sdo.size << " byte: " << hex;

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                switch (sdo.size) {

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                    case 1:

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                        cout << "0x" << setw(2)

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                            << (unsigned int) *(uint8_t *) &sdo.data;

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                        break;

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                    case 2:

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                        cout << "0x" << setw(4)

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                            << le16tocpu(*(uint16_t *) &sdo.data);

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                        break;

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                    case 4:

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                        cout << "0x" << setw(8)

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                            << le32tocpu(*(uint32_t *) &sdo.data);

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                        break;

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                    default:

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                        cout << "???";

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                }

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   254

                cout << endl;

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            }

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        }

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        cout << endl;

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    }

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}

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

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void Master::outputData(int domainIndex)

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{

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    open(Read);

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   268

    if (domainIndex == -1) {

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        unsigned int i;

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        ec_ioctl_master_t master;

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   272

        getMaster(&master);

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        for (i = 0; i < master.domain_count; i++) {

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            outputDomainData(i);

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        }

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    } else {

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        outputDomainData(domainIndex);

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    }

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}

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

   283

   284

void Master::setDebug(const vector<string> &commandArgs)

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{

   286

    stringstream str;

   287

    int debugLevel;

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   289

    if (commandArgs.size() != 1) {

   290

        stringstream err;

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        err << "'debug' takes exactly one argument!";

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        throw MasterException(err.str());

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    }

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    str << commandArgs[0];

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    str >> debugLevel;

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   298

    if (str.fail()) {

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        stringstream err;

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        err << "Invalid debug level '" << commandArgs[0] << "'!";

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        throw MasterException(err.str());

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    }

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    open(ReadWrite);

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    if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {

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        stringstream err;

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        err << "Failed to set debug level: " << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

   314

   315

void Master::showDomains(int domainIndex)

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{

   317

    open(Read);

   318

   319

    if (domainIndex == -1) {

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        unsigned int i;

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        ec_ioctl_master_t master;

   322

   323

        getMaster(&master);

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   325

        for (i = 0; i < master.domain_count; i++) {

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            showDomain(i);

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        }

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    } else {

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        showDomain(domainIndex);

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    }

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}

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

   334

   335

struct SlaveInfo {

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    string pos;

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    string alias;

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    string relPos;

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    string state;

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    string flag;

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    string name;

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};

   343

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void Master::listSlaves()

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{

   346

    unsigned int numSlaves, i;

   347

    ec_ioctl_slave_t slave;

   348

    uint16_t lastAlias, aliasIndex;

   349

    SlaveInfo slaveInfo;

   350

    typedef list<SlaveInfo> SlaveInfoList;

   351

    SlaveInfoList slaveInfoList;

   352

    SlaveInfoList::const_iterator iter;

   353

    stringstream str;

   354

    unsigned int maxPosWidth = 0, maxAliasWidth = 0,

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                 maxRelPosWidth = 0, maxStateWidth = 0;

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   357

    open(Read);

   358

   359

    numSlaves = slaveCount();

   360

   361

    lastAlias = 0;

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    aliasIndex = 0;

   363

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

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        getSlave(&slave, i);

   365

   366

        str << dec << i;

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        slaveInfo.pos = str.str();

   368

        str.clear();

   369

        str.str("");

   370

   371

        if (slave.alias) {

   372

            lastAlias = slave.alias;

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            aliasIndex = 0;

   374

        }

   375

        if (lastAlias) {

   376

            str << "#" << hex << lastAlias;

   377

            slaveInfo.alias = str.str();

   378

            str.str("");

   379

            str << ":" << dec << aliasIndex;

   380

            slaveInfo.relPos = str.str();

   381

            str.str("");

   382

            aliasIndex++;

   383

        } else {

   384

            slaveInfo.alias = "";

   385

            slaveInfo.relPos = "";

   386

        }

   387

   388

        slaveInfo.state = slaveState(slave.state);

   389

        slaveInfo.flag = (slave.error_flag ? 'E' : '+');

   390

   391

        if (strlen(slave.name)) {

   392

            slaveInfo.name = slave.name;

   393

        } else {

   394

            str << hex << setfill('0')

   395

                << setw(8) << slave.vendor_id << ":"

   396

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

   397

            slaveInfo.name = str.str();

   398

            str.str("");

   399

        }

   400

   401

        slaveInfoList.push_back(slaveInfo);

   402

        if (slaveInfo.pos.length() > maxPosWidth)

   403

            maxPosWidth = slaveInfo.pos.length();

   404

        if (slaveInfo.alias.length() > maxAliasWidth)

   405

            maxAliasWidth = slaveInfo.alias.length();

   406

        if (slaveInfo.relPos.length() > maxRelPosWidth)

   407

            maxRelPosWidth = slaveInfo.relPos.length();

   408

        if (slaveInfo.state.length() > maxStateWidth)

   409

            maxStateWidth = slaveInfo.state.length();

   410

    }

   411

   412

    for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {

   413

        cout << setfill(' ') << right

   414

            << setw(maxPosWidth) << iter->pos << "  "

   415

            << setw(maxAliasWidth) << iter->alias

   416

            << left

   417

            << setw(maxRelPosWidth) << iter->relPos << "  "

   418

            << setw(maxStateWidth) << iter->state << "  "

   419

            << iter->flag << "  "

   420

            << iter->name << endl;

   421

    }

   422

}

   423

   424

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

   425

   426

void Master::showMaster()

   427

{

   428

    ec_ioctl_master_t data;

   429

    stringstream err;

   430

    unsigned int i;

   431

   432

    open(Read);

   433

    getMaster(&data);

   434

   435

    cout

   436

        << "Master" << index << endl

   437

        << "  State: ";

   438

   439

    switch (data.mode) {

   440

        case 0: cout << "Waiting for device..."; break;

   441

        case 1: cout << "Idle"; break;

   442

        case 2: cout << "Operation"; break;

   443

        default:

   444

                err << "Invalid master state " << data.mode;

   445

                throw MasterException(err.str());

   446

    }

   447

   448

    cout << endl

   449

        << "  Slaves: " << data.slave_count << endl;

   450

   451

    for (i = 0; i < 2; i++) {

   452

        cout << "  Device" << i << ": ";

   453

        if (data.devices[i].address[0] == 0x00

   454

                && data.devices[i].address[1] == 0x00

   455

                && data.devices[i].address[2] == 0x00

   456

                && data.devices[i].address[3] == 0x00

   457

                && data.devices[i].address[4] == 0x00

   458

                && data.devices[i].address[5] == 0x00) {

   459

            cout << "None.";

   460

        } else {

   461

            cout << hex << setfill('0')

   462

                << setw(2) << (unsigned int) data.devices[i].address[0] << ":"

   463

                << setw(2) << (unsigned int) data.devices[i].address[1] << ":"

   464

                << setw(2) << (unsigned int) data.devices[i].address[2] << ":"

   465

                << setw(2) << (unsigned int) data.devices[i].address[3] << ":"

   466

                << setw(2) << (unsigned int) data.devices[i].address[4] << ":"

   467

                << setw(2) << (unsigned int) data.devices[i].address[5] << " ("

   468

                << (data.devices[i].attached ? "attached" : "waiting...")

   469

                << ")" << endl << dec

   470

                << "    Tx count: " << data.devices[i].tx_count << endl

   471

                << "    Rx count: " << data.devices[i].rx_count;

   472

        }

   473

        cout << endl;

   474

    }

   475

}

   476

   477

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

   478

   479

void Master::listPdos(int slavePosition, bool quiet)

   480

{

   481

    open(Read);

   482

   483

    if (slavePosition == -1) {

   484

        unsigned int numSlaves = slaveCount(), i;

   485

   486

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

   487

            listSlavePdos(i, quiet, true);

   488

        }

   489

    } else {

   490

        listSlavePdos(slavePosition, quiet, false);

   491

    }

   492

}

   493

   494

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

   495

   496