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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 <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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/*****************************************************************************/

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CommandConfig::CommandConfig():

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    Command("config", "Show slave configurations.")

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{

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}

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

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string CommandConfig::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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    	<< "Without the --verbose option, slave configurations are" << endl

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    	<< "output one-per-line. Example:" << endl

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    	<< endl

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    	<< "1001:0  0x0000003b/0x02010000  3  OP" << endl

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    	<< "|       |                      |  |" << endl

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    	<< "|       |                      |  \\- Application-layer" << endl

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    	<< "|       |                      |     state of the attached" << endl

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    	<< "|       |                      |     slave, or '-', if no" << endl

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    	<< "|       |                      |     slave is attached." << endl

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    	<< "|       |                      \\- Absolute decimal ring" << endl

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    	<< "|       |                         position of the attached" << endl

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    	<< "|       |                         slave, or '-' if none" << endl

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    	<< "|       |                         attached." << endl

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    	<< "|       \\- Expected vendor ID and product code (both" << endl

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    	<< "|          hexadecimal)." << endl

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    	<< "\\- Alias address and relative position (both decimal)." << endl

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    	<< endl

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    	<< "With the --verbose option given, the configured PDOs and" << endl

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    	<< "SDOs are output in addition." << endl

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        << endl

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        << "Configuration selection:" << endl

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        << "  Slave configurations 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 slave configurations are displayed." << endl

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        << "  2) If only the --position option is given, an alias" << endl

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        << "     of zero is assumed (see 4))." << endl

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        << "  3) If only the --alias option is given, all slave" << endl

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        << "     configurations with the given alias address" << endl

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        << "     are displayed." << endl

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        << "  4) If both the --alias and the --position option are" << endl

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        << "     given, the selection can match a single" << endl

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        << "     configuration, that is displayed, if it exists." << endl

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    	<< endl

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    	<< "Command-specific options:" << endl

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        << "  --alias    -a <alias>  Configuration alias (see above)." << endl

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        << "  --position -p <pos>    Relative position (see above)." << endl

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    	<< "  --verbose  -v          Show detailed configurations." << 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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/** Lists the bus configuration.

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 */

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void CommandConfig::execute(MasterDevice &m, const StringVector &args)

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{

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    ConfigList configs;

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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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    configs = selectedConfigs(m);

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    if (getVerbosity() == Verbose) {

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        showDetailedConfigs(m, configs);

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    } else {

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        listConfigs(m, configs);

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    }

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}

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

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/** 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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		const ConfigList &configList

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		)

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{

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    ConfigList::const_iterator configIter;

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    unsigned int i, j, k, l;

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    ec_ioctl_slave_t slave;

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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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    for (configIter = configList.begin();

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            configIter != configList.end();

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            configIter++) {

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        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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        if (configIter->slave_position != -1) {

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            m.getSlave(&slave, configIter->slave_position);

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            cout << dec << configIter->slave_position

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                << " (" << alStateString(slave.al_state) << ")" << endl;

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        } else {

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            cout << "none" << endl;

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        }

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        cout << "Watchdog divider: ";

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        if (configIter->watchdog_divider) {

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            cout << dec << configIter->watchdog_divider;

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        } else {

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            cout << "(Default)";

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        }

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        cout << endl

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            << "Watchdog intervals: ";

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        if (configIter->watchdog_intervals) {

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            cout << dec << configIter->watchdog_intervals;

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        } else {

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            cout << "(Default)";

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        }

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        cout << endl;

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

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            if (configIter->syncs[j].pdo_count) {

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                cout << "SM" << dec << j << ", Dir: "

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                    << (configIter->syncs[j].dir == EC_DIR_INPUT

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                            ? "Input" : "Output") << ", Watchdog: ";

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                switch (configIter->syncs[j].watchdog_mode) {

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                    case EC_WD_DEFAULT: cout << "Default"; break;

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                    case EC_WD_ENABLE: cout << "Enable"; break;

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                    case EC_WD_DISABLE: cout << "Disable"; break;

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                    default: cout << "???"; break;

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                }

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                cout << endl;

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                for (k = 0; k < configIter->syncs[j].pdo_count; k++) {

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                    m.getConfigPdo(&pdo, configIter->config_index, j, k);

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                    cout << "  PDO 0x" << hex << setfill('0')

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                        << setw(4) << pdo.index << endl;

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

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                        m.getConfigPdoEntry(&entry,

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                                configIter->config_index, j, k, l);

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                        cout << "    PDO entry 0x" << hex << setfill('0')

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                            << setw(4) << entry.index << ":"

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

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                            << ", " << dec << setfill(' ')

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                            << setw(2) << (unsigned int) entry.bit_length

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                            << " bit" << endl;

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                    }

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                }

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            }

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        }

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        cout << "SDO configuration:" << endl;

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        if (configIter->sdo_count) {

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            for (j = 0; j < configIter->sdo_count; j++) {

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                m.getConfigSdo(&sdo, configIter->config_index, j);

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                cout << "  0x"

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                    << hex << setfill('0')

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                    << setw(4) << sdo.index << ":"

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

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                    << ", " << dec << sdo.size << " byte" << endl;

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                cout << "    " << hex;

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                for (i = 0; i < min((uint32_t) sdo.size,

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                            (uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {

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                    cout << setw(2) << (unsigned int) sdo.data[i];

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                    if ((i + 1) % 16 == 0 && i < sdo.size - 1) {

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                        cout << endl << "    ";

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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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                if (sdo.size > EC_MAX_SDO_DATA_SIZE) {

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                    cout << "    ..." << endl;

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                }

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            }

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        } else {

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            cout << "  None." << endl;

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        }

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        if (configIter->dc_assign_activate) {

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            int i;

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            cout << "DC configuration:" << endl

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                << "  AssignActivate: 0x" << hex << setfill('0')

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                << setw(4) << configIter->dc_assign_activate << endl;

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            cout << "         Cycle [ns]   Shift [ns]" << endl;

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

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                cout << "  SYNC" << dec << i << "  "

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                    << setfill(' ') << right

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                    << setw(11) << configIter->dc_sync[i].cycle_time

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                    << "  "

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                    << setw(11) << configIter->dc_sync[i].shift_time

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                    << 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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/** Lists the bus configuration.

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 */

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void CommandConfig::listConfigs(

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        MasterDevice &m,

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        const ConfigList &configList

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        )

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{

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    ConfigList::const_iterator configIter;

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    stringstream str;

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    Info info;

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    typedef list<Info> InfoList;

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    InfoList list;

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    InfoList::const_iterator iter;

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    unsigned int maxAliasWidth = 0, maxPosWidth = 0,

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                 maxSlavePosWidth = 0, maxStateWidth = 0;

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    ec_ioctl_slave_t slave;

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    for (configIter = configList.begin();

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            configIter != configList.end();

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            configIter++) {

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        str << dec << configIter->alias;

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        info.alias = str.str();

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        str.clear();

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        str.str("");

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        str << configIter->position;

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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 << hex << setfill('0')

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            << "0x" << setw(8) << configIter->vendor_id

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            << "/0x" << setw(8) << configIter->product_code;

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        info.ident = str.str();

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        str.clear();

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        str.str("");

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        if (configIter->slave_position != -1) {

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            m.getSlave(&slave, configIter->slave_position);

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            str << dec << configIter->slave_position;

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            info.slavePos = str.str();

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            str.clear();

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            str.str("");

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            str << alStateString(slave.al_state);

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            info.state = str.str();

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            str.clear();

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            str.str("");

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        } else {

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            str << "-";

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            info.slavePos = str.str();

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            str.clear();

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            str.str("");

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            str << "-";

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            info.state = str.str();

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            str.clear();

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            str.str("");

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        }

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        list.push_back(info);

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

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            maxAliasWidth = info.alias.length();

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

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            maxPosWidth = info.pos.length();

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        if (info.slavePos.length() > maxSlavePosWidth)

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            maxSlavePosWidth = info.slavePos.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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    for (iter = list.begin(); iter != list.end(); iter++) {

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        cout << setfill(' ') << right

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

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            << ":" << left

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

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            << "  "

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            << iter->ident

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            << "  "

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            << setw(maxSlavePosWidth) << iter->slavePos << "  "

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

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            << endl;

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    }

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}

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