author | Martin Troxler <ch1010277@ch10pc446> |
Mon, 18 Oct 2010 10:30:57 +0200 | |
changeset 1994 | b369f3f92eb8 |
parent 1918 | c58633eed20b |
child 2010 | 87de63b19e4c |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
2 |
* |
|
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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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11 |
* published by the Free Software Foundation. |
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12 |
* |
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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. |
1142 | 27 |
* |
1880 | 28 |
* vim: expandtab |
29 |
* |
|
1142 | 30 |
****************************************************************************/ |
31 |
||
32 |
#include "Command.h" |
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#include "MasterDevice.h" |
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#include "NumberListParser.h" |
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/*****************************************************************************/ |
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|
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class MasterIndexParser: |
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public NumberListParser |
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{ |
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unsigned int getMax() |
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{ |
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MasterDevice dev; |
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dev.setIndex(0U); |
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dev.open(MasterDevice::Read); |
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return dev.getMasterCount() - 1; |
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}; |
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}; |
1142 | 49 |
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50 |
/*****************************************************************************/ |
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51 |
||
52 |
Command::Command(const string &name, const string &briefDesc): |
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name(name), |
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briefDesc(briefDesc), |
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verbosity(Normal) |
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{ |
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} |
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/*****************************************************************************/ |
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60 |
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Command::~Command() |
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{ |
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} |
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/*****************************************************************************/ |
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void Command::setMasters(const string &m) |
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{ |
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masters = m; |
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}; |
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71 |
|
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/*****************************************************************************/ |
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73 |
|
1142 | 74 |
void Command::setVerbosity(Verbosity v) |
75 |
{ |
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1804 | 76 |
verbosity = v; |
1142 | 77 |
}; |
78 |
||
1151 | 79 |
/*****************************************************************************/ |
80 |
||
81 |
void Command::setAlias(int a) |
|
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{ |
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1804 | 83 |
alias = a; |
1151 | 84 |
}; |
85 |
||
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/*****************************************************************************/ |
|
87 |
||
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void Command::setPosition(int p) |
|
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{ |
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1804 | 90 |
position = p; |
1151 | 91 |
}; |
92 |
||
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/*****************************************************************************/ |
94 |
||
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void Command::setDomain(int d) |
|
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{ |
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domain = d; |
1166 | 98 |
}; |
99 |
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/*****************************************************************************/ |
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||
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void Command::setDataType(const string &t) |
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{ |
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dataType = t; |
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}; |
106 |
||
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/*****************************************************************************/ |
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void Command::setForce(bool f) |
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{ |
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force = f; |
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}; |
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/*****************************************************************************/ |
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115 |
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void Command::setOutputFile(const string &f) |
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{ |
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outputFile = f; |
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}; |
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/****************************************************************************/ |
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bool Command::matchesSubstr(const string &cmd) const |
|
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{ |
|
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return name.substr(0, cmd.length()) == cmd; |
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} |
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||
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/****************************************************************************/ |
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129 |
||
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bool Command::matchesAbbrev(const string &abb) const |
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{ |
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unsigned int i; |
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size_t pos = 0; |
|
134 |
||
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for (i = 0; i < abb.length(); i++) { |
|
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pos = name.find(abb[i], pos); |
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if (pos == string::npos) |
|
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return false; |
|
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} |
|
140 |
||
141 |
return true; |
|
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} |
|
143 |
||
144 |
/*****************************************************************************/ |
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145 |
||
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string Command::numericInfo() |
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{ |
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148 |
stringstream str; |
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149 |
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str << "Numerical values can be specified either with decimal (no" << endl |
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<< "prefix), octal (prefix '0') or hexadecimal (prefix '0x') base." |
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152 |
<< endl; |
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153 |
|
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return str.str(); |
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155 |
} |
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156 |
|
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157 |
/*****************************************************************************/ |
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158 |
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159 |
void Command::throwInvalidUsageException(const stringstream &s) const |
1142 | 160 |
{ |
161 |
throw InvalidUsageException(s); |
|
162 |
} |
|
163 |
||
164 |
/*****************************************************************************/ |
|
165 |
||
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void Command::throwCommandException(const string &msg) const |
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167 |
{ |
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168 |
throw CommandException(msg); |
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169 |
} |
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170 |
|
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171 |
/*****************************************************************************/ |
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172 |
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173 |
void Command::throwCommandException(const stringstream &s) const |
1142 | 174 |
{ |
175 |
throw CommandException(s); |
|
176 |
} |
|
177 |
||
1151 | 178 |
/*****************************************************************************/ |
179 |
||
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180 |
void Command::throwSingleSlaveRequired(unsigned int size) const |
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{ |
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182 |
stringstream err; |
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183 |
|
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err << "The slave selection matches " << size << " slaves. '" |
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<< name << "' requires a single slave."; |
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186 |
|
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throwInvalidUsageException(err); |
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188 |
} |
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189 |
|
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190 |
/*****************************************************************************/ |
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191 |
|
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192 |
Command::MasterIndexList Command::getMasterIndices() const |
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193 |
{ |
1880 | 194 |
MasterIndexList indices; |
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195 |
|
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196 |
try { |
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197 |
MasterIndexParser p; |
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198 |
indices = p.parse(masters.c_str()); |
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199 |
} catch (MasterDeviceException &e) { |
1880 | 200 |
stringstream err; |
201 |
err << "Failed to obtain number of masters: " << e.what(); |
|
202 |
throwCommandException(err); |
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203 |
} catch (runtime_error &e) { |
1880 | 204 |
stringstream err; |
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205 |
err << "Invalid master argument '" << masters << "': " << e.what(); |
1880 | 206 |
throwInvalidUsageException(err); |
207 |
} |
|
208 |
||
209 |
return indices; |
|
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210 |
} |
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211 |
|
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212 |
/*****************************************************************************/ |
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213 |
|
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214 |
unsigned int Command::getSingleMasterIndex() const |
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|
215 |
{ |
1880 | 216 |
MasterIndexList masterIndices = getMasterIndices(); |
1870
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|
217 |
if (masterIndices.size() != 1) { |
1880 | 218 |
stringstream err; |
1870
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|
219 |
err << getName() << " requires to select a single master!"; |
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|
220 |
throwInvalidUsageException(err); |
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|
221 |
} |
1880 | 222 |
return masterIndices.front(); |
1870
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|
223 |
} |
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|
224 |
|
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|
225 |
/*****************************************************************************/ |
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|
226 |
|
1151 | 227 |
Command::SlaveList Command::selectedSlaves(MasterDevice &m) |
228 |
{ |
|
1160
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|
229 |
ec_ioctl_master_t master; |
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|
230 |
unsigned int i, aliasIndex; |
1151 | 231 |
uint16_t lastAlias; |
232 |
ec_ioctl_slave_t slave; |
|
233 |
SlaveList list; |
|
234 |
||
1160
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|
235 |
m.getMaster(&master); |
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|
236 |
|
1151 | 237 |
if (alias == -1) { // no alias given |
238 |
if (position == -1) { // no alias and position given |
|
239 |
// all items |
|
1160
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|
240 |
for (i = 0; i < master.slave_count; i++) { |
1151 | 241 |
m.getSlave(&slave, i); |
242 |
list.push_back(slave); |
|
243 |
} |
|
244 |
} else { // no alias, but position given |
|
245 |
// one item by position |
|
246 |
m.getSlave(&slave, position); |
|
247 |
list.push_back(slave); |
|
248 |
} |
|
249 |
} else { // alias given |
|
250 |
if (position == -1) { // alias, but no position given |
|
251 |
// take all items with a given alias |
|
252 |
lastAlias = 0; |
|
1160
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|
253 |
for (i = 0; i < master.slave_count; i++) { |
1151 | 254 |
m.getSlave(&slave, i); |
255 |
if (slave.alias) { |
|
256 |
lastAlias = slave.alias; |
|
257 |
} |
|
258 |
if (lastAlias == (uint16_t) alias) { |
|
259 |
list.push_back(slave); |
|
260 |
} |
|
261 |
} |
|
262 |
} else { // alias and position given |
|
263 |
lastAlias = 0; |
|
264 |
aliasIndex = 0; |
|
1160
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|
265 |
for (i = 0; i < master.slave_count; i++) { |
1151 | 266 |
m.getSlave(&slave, i); |
1159
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|
267 |
if (slave.alias && slave.alias == (uint16_t) alias) { |
1151 | 268 |
lastAlias = slave.alias; |
269 |
aliasIndex = 0; |
|
270 |
} |
|
1159
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|
271 |
if (lastAlias && aliasIndex == (unsigned int) position) { |
1151 | 272 |
list.push_back(slave); |
273 |
} |
|
274 |
aliasIndex++; |
|
275 |
} |
|
276 |
} |
|
277 |
} |
|
278 |
||
279 |
return list; |
|
280 |
} |
|
281 |
||
1156
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|
282 |
/*****************************************************************************/ |
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|
283 |
|
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|
284 |
bool operator<( |
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|
285 |
const ec_ioctl_config_t &a, |
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|
286 |
const ec_ioctl_config_t &b |
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|
287 |
) |
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|
288 |
{ |
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|
289 |
return a.alias < b.alias |
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|
290 |
|| (a.alias == b.alias && a.position < b.position); |
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|
291 |
} |
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|
292 |
|
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|
293 |
/*****************************************************************************/ |
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|
294 |
|
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|
295 |
Command::ConfigList Command::selectedConfigs(MasterDevice &m) |
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|
296 |
{ |
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|
297 |
unsigned int i; |
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|
298 |
ec_ioctl_master_t master; |
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|
299 |
ec_ioctl_config_t config; |
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|
300 |
ConfigList list; |
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Implemented alias and position for configs.
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|
301 |
stringstream err; |
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Implemented alias and position for configs.
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|
302 |
|
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changeset
|
303 |
m.getMaster(&master); |
ecaf2a896ea3
Implemented alias and position for configs.
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changeset
|
304 |
|
1157
04d1c950cf9d
Added --help for alias and position parameters.
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changeset
|
305 |
if (alias == -1) { // no alias given |
1156
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Implemented alias and position for configs.
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changeset
|
306 |
if (position == -1) { // no alias and position given |
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Implemented alias and position for configs.
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changeset
|
307 |
// all items |
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Implemented alias and position for configs.
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diff
changeset
|
308 |
for (i = 0; i < master.config_count; i++) { |
ecaf2a896ea3
Implemented alias and position for configs.
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changeset
|
309 |
m.getConfig(&config, i); |
ecaf2a896ea3
Implemented alias and position for configs.
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changeset
|
310 |
list.push_back(config); |
ecaf2a896ea3
Implemented alias and position for configs.
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changeset
|
311 |
} |
1157
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
312 |
} else { // no alias, but position given |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
313 |
for (i = 0; i < master.config_count; i++) { |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
314 |
m.getConfig(&config, i); |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
315 |
if (!config.alias && config.position == position) { |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
316 |
list.push_back(config); |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
317 |
break; // there can be at most one matching |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
318 |
} |
04d1c950cf9d
Added --help for alias and position parameters.
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diff
changeset
|
319 |
} |
1156
ecaf2a896ea3
Implemented alias and position for configs.
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diff
changeset
|
320 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
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diff
changeset
|
321 |
} else { // alias given |
ecaf2a896ea3
Implemented alias and position for configs.
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diff
changeset
|
322 |
if (position == -1) { // alias, but no position given |
ecaf2a896ea3
Implemented alias and position for configs.
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diff
changeset
|
323 |
// take all items with a given alias |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
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diff
changeset
|
324 |
for (i = 0; i < master.config_count; i++) { |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
325 |
m.getConfig(&config, i); |
1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1156
diff
changeset
|
326 |
if (config.alias == alias) { |
1156
ecaf2a896ea3
Implemented alias and position for configs.
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diff
changeset
|
327 |
list.push_back(config); |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
328 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
329 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
330 |
} else { // alias and position given |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
331 |
for (i = 0; i < master.config_count; i++) { |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
332 |
m.getConfig(&config, i); |
1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1156
diff
changeset
|
333 |
if (config.alias == alias && config.position == position) { |
1156
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
334 |
list.push_back(config); |
ecaf2a896ea3
Implemented alias and position for configs.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
335 |
break; // there can be at most one matching |
ecaf2a896ea3
Implemented alias and position for configs.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
336 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
337 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
1155
diff
changeset
|
338 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
339 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
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diff
changeset
|
340 |
|
ecaf2a896ea3
Implemented alias and position for configs.
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parents:
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diff
changeset
|
341 |
list.sort(); |
ecaf2a896ea3
Implemented alias and position for configs.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
342 |
return list; |
ecaf2a896ea3
Implemented alias and position for configs.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
343 |
} |
ecaf2a896ea3
Implemented alias and position for configs.
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1155
diff
changeset
|
344 |
|
1142 | 345 |
/****************************************************************************/ |
1146
f18d124d7fbc
Moved slaveState() to Command::alStateString().
Florian Pose <fp@igh-essen.com>
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1144
diff
changeset
|
346 |
|
1166 | 347 |
Command::DomainList Command::selectedDomains(MasterDevice &m) |
348 |
{ |
|
1804 | 349 |
ec_ioctl_domain_t d; |
350 |
DomainList list; |
|
1166 | 351 |
|
352 |
if (domain == -1) { |
|
1804 | 353 |
ec_ioctl_master_t master; |
1166 | 354 |
unsigned int i; |
355 |
||
356 |
m.getMaster(&master); |
|
357 |
||
358 |
for (i = 0; i < master.domain_count; i++) { |
|
1804 | 359 |
m.getDomain(&d, i); |
360 |
list.push_back(d); |
|
1166 | 361 |
} |
362 |
} else { |
|
1804 | 363 |
m.getDomain(&d, domain); |
364 |
list.push_back(d); |
|
365 |
} |
|
366 |
||
367 |
return list; |
|
1166 | 368 |
} |
369 |
||
370 |
/****************************************************************************/ |
|
371 |
||
1146
f18d124d7fbc
Moved slaveState() to Command::alStateString().
Florian Pose <fp@igh-essen.com>
parents:
1144
diff
changeset
|
372 |
string Command::alStateString(uint8_t state) |
f18d124d7fbc
Moved slaveState() to Command::alStateString().
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parents:
1144
diff
changeset
|
373 |
{ |
1918
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
374 |
string ret; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
375 |
|
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
376 |
switch (state & EC_SLAVE_STATE_MASK) { |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
377 |
case 1: ret = "INIT"; break; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
378 |
case 2: ret = "PREOP"; break; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
379 |
case 3: ret = "BOOT"; break; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
380 |
case 4: ret = "SAFEOP"; break; |
c58633eed20b
Fixed AL state display in command-line tool.
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parents:
1880
diff
changeset
|
381 |
case 8: ret = "OP"; break; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
382 |
default: ret = "???"; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
383 |
} |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
384 |
|
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
385 |
if (state & EC_SLAVE_STATE_ACK_ERR) { |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
386 |
ret += "+ERROR"; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
387 |
} |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
388 |
|
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
389 |
return ret; |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
390 |
} |
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
391 |
|
c58633eed20b
Fixed AL state display in command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1880
diff
changeset
|
392 |
/****************************************************************************/ |