| author | Florian Pose <fp@igh-essen.com> |
| Tue, 22 Jul 2008 14:17:20 +0000 | |
| changeset 1126 | b09fd81894cb |
| child 1130 | bb1c11adb2db |
| permissions | -rw-r--r-- |
|
1126
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/***************************************************************************** |
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* |
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* $Id$ |
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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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using namespace std; |
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#include "globals.h" |
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/****************************************************************************/ |
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const char *help_slaves = |
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"[OPTIONS]\n" |
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"\n" |
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"\n" |
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"Command-specific options:\n"; |
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void listSlaves(int); |
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void showSlave(uint16_t); |
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/****************************************************************************/ |
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void command_slaves() |
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{
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masterDev.open(MasterDevice::Read); |
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if (verbosity == Verbose) {
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if (slavePosition == -1) {
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unsigned int numSlaves = masterDev.slaveCount(), i; |
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for (i = 0; i < numSlaves; i++) {
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showSlave(i); |
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} |
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} else {
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showSlave(slavePosition); |
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} |
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} else {
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listSlaves(slavePosition); |
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} |
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} |
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/****************************************************************************/ |
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string slaveState(uint8_t state) |
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{
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switch (state) {
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case 1: return "INIT"; |
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case 2: return "PREOP"; |
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case 4: return "SAFEOP"; |
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case 8: return "OP"; |
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default: return "???"; |
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} |
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} |
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/****************************************************************************/ |
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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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}; |
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void listSlaves(int slavePosition) |
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{
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unsigned int numSlaves, i; |
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ec_ioctl_slave_t slave; |
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uint16_t lastAlias, aliasIndex; |
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SlaveInfo slaveInfo; |
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typedef list<SlaveInfo> SlaveInfoList; |
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SlaveInfoList slaveInfoList; |
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SlaveInfoList::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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numSlaves = masterDev.slaveCount(); |
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lastAlias = 0; |
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aliasIndex = 0; |
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for (i = 0; i < numSlaves; i++) {
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masterDev.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 (slavePosition == -1 || i == (unsigned int) slavePosition) {
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str << dec << i; |
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slaveInfo.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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slaveInfo.alias = str.str(); |
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str.str("");
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str << aliasIndex; |
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slaveInfo.relPos = str.str(); |
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str.str("");
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slaveInfo.state = slaveState(slave.state); |
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slaveInfo.flag = (slave.error_flag ? 'E' : '+'); |
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if (strlen(slave.name)) {
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slaveInfo.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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slaveInfo.name = str.str(); |
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str.str("");
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} |
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slaveInfoList.push_back(slaveInfo); |
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if (slaveInfo.pos.length() > maxPosWidth) |
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maxPosWidth = slaveInfo.pos.length(); |
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if (slaveInfo.alias.length() > maxAliasWidth) |
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
128 |
maxAliasWidth = slaveInfo.alias.length(); |
|
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
129 |
if (slaveInfo.relPos.length() > maxRelPosWidth) |
|
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parents:
diff
changeset
|
130 |
maxRelPosWidth = slaveInfo.relPos.length(); |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
131 |
if (slaveInfo.state.length() > maxStateWidth) |
|
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Moved every command into a separate file.
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parents:
diff
changeset
|
132 |
maxStateWidth = slaveInfo.state.length(); |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
133 |
} |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
|
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
aliasIndex++; |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
} |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
137 |
|
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
cout << setfill(' ') << right
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
140 |
<< setw(maxPosWidth) << iter->pos << " " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
<< setw(maxAliasWidth) << iter->alias |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
<< ":" << left |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
<< setw(maxRelPosWidth) << iter->relPos << " " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
<< setw(maxStateWidth) << iter->state << " " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
<< iter->flag << " " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
<< iter->name << endl; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
} |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
/****************************************************************************/ |
|
b09fd81894cb
Moved every command into a separate file.
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parents:
diff
changeset
|
151 |
|
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
void showSlave(uint16_t slavePosition) |
|
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parents:
diff
changeset
|
153 |
{
|
|
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Moved every command into a separate file.
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parents:
diff
changeset
|
154 |
ec_ioctl_slave_t slave; |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
list<string> protoList; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
list<string>::const_iterator protoIter; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
|
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
masterDev.getSlave(&slave, slavePosition); |
|
b09fd81894cb
Moved every command into a separate file.
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parents:
diff
changeset
|
159 |
|
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
cout << "=== Slave " << dec << slavePosition << " ===" << endl; |
|
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Moved every command into a separate file.
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parents:
diff
changeset
|
161 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
if (slave.alias) |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
cout << "Alias: " << slave.alias << endl; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
cout |
|
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Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
<< "State: " << slaveState(slave.state) << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
<< "Identity:" << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
<< " Vendor Id: 0x" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
<< hex << setfill('0')
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
<< setw(8) << slave.vendor_id << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
<< " Product code: 0x" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
<< setw(8) << slave.product_code << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
<< " Revision number: 0x" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
<< setw(8) << slave.revision_number << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
<< " Serial number: 0x" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
<< setw(8) << slave.serial_number << endl; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
if (slave.mailbox_protocols) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
cout << "Mailboxes:" << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
<< " RX: 0x" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
<< hex << setw(4) << slave.rx_mailbox_offset << "/" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
<< dec << slave.rx_mailbox_size |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
<< ", TX: 0x" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
<< hex << setw(4) << slave.tx_mailbox_offset << "/" |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
<< dec << slave.tx_mailbox_size << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
<< " Supported protocols: "; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
if (slave.mailbox_protocols & EC_MBOX_AOE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
protoList.push_back("AoE");
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
if (slave.mailbox_protocols & EC_MBOX_EOE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
protoList.push_back("EoE");
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
if (slave.mailbox_protocols & EC_MBOX_COE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
protoList.push_back("CoE");
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
if (slave.mailbox_protocols & EC_MBOX_FOE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
protoList.push_back("FoE");
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
if (slave.mailbox_protocols & EC_MBOX_SOE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
protoList.push_back("SoE");
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
if (slave.mailbox_protocols & EC_MBOX_VOE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
protoList.push_back("VoE");
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
for (protoIter = protoList.begin(); protoIter != protoList.end(); |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
protoIter++) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
if (protoIter != protoList.begin()) |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
cout << ", "; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
cout << *protoIter; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
cout << endl; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
if (slave.has_general_category) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
cout << "General:" << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
<< " Group: " << slave.group << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
<< " Image name: " << slave.image << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
<< " Order number: " << slave.order << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
<< " Device name: " << slave.name << endl; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
if (slave.mailbox_protocols & EC_MBOX_COE) {
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
cout << " CoE details:" << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
<< " Enable Sdo: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
<< " Enable Sdo Info: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
<< (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
<< " Enable Pdo Assign: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
<< (slave.coe_details.enable_pdo_assign |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
<< " Enable Pdo Configuration: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
<< (slave.coe_details.enable_pdo_configuration |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
<< " Enable Upload at startup: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
<< (slave.coe_details.enable_upload_at_startup |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
<< " Enable Sdo complete access: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
<< (slave.coe_details.enable_sdo_complete_access |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
? "yes" : "no") << endl; |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
} |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
|
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
244 |
cout << " Flags:" << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
<< " Enable SafeOp: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
246 |
<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
247 |
<< " Enable notLRW: " |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
248 |
<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl |
|
b09fd81894cb
Moved every command into a separate file.
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<< " Current consumption: " |
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<< dec << slave.current_on_ebus << " mA" << endl; |
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} |
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} |
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parents:
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253 |
|
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parents:
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/*****************************************************************************/ |