tool/CommandDomains.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 21 Oct 2013 19:27:50 +0200
branchstable-1.5
changeset 2532 bdadf6da4914
parent 2453 d461b1f07296
permissions -rw-r--r--
Added configure switch --disable-rt-syslog.
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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 <iostream>
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#include <iomanip>
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using namespace std;
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#include "CommandDomains.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandDomains::CommandDomains():
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    Command("domains", "Show configured domains.")
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{
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}
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/*****************************************************************************/
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string CommandDomains::helpString(const string &binaryBaseName) const
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{
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    stringstream str;
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    str << binaryBaseName << " " << 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, the domains are displayed" << endl
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        << "one-per-line. Example:" << endl
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        << endl
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        << "Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 0/1"
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        << endl << endl
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        << "The domain's base address for the logical datagram" << endl
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        << "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
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        << "process data size in byte. The last values are the current" << endl
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        << "datagram working counter sum and the expected working" << endl
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        << "counter sum. If the values are equal, all PDOs were" << endl
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        << "exchanged during the last cycle." << endl
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        << endl
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        << "If the --verbose option is given, the participating slave" << endl
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        << "configurations/FMMUs and the current process data are" << endl
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        << "additionally displayed:" << endl
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        << endl
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        << "Domain1: LogBaseAddr 0x00000006, Size   6, WorkingCounter 0/1"
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        << endl
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        << "  SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
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        << endl
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        << "    00 00 00 00 00 00" << endl
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        << endl
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        << "The process data are displayed as hexadecimal bytes." << endl
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        << endl
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        << "Command-specific options:" << endl
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        << "  --domain  -d <index>  Positive numerical domain index." << endl
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        << "                        If ommitted, all domains are" << endl
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        << "                        displayed." << endl
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        << endl
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        << "  --verbose -v          Show FMMUs and process data" << endl
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        << "                        in addition." << endl
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        << endl
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        << numericInfo();
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    return str.str();
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}
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/****************************************************************************/
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void CommandDomains::execute(const StringVector &args)
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{
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	MasterIndexList masterIndices;
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    bool doIndent;
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    DomainList domains;
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    DomainList::const_iterator di;
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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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	masterIndices = getMasterIndices();
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    doIndent = masterIndices.size() > 1;
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    MasterIndexList::const_iterator mi;
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    for (mi = masterIndices.begin();
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            mi != masterIndices.end(); mi++) {
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        ec_ioctl_master_t io;
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        MasterDevice m(*mi);
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        m.open(MasterDevice::Read);
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        m.getMaster(&io);
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        domains = selectedDomains(m, io);
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        if (domains.size() && doIndent) {
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            cout << "Master" << dec << *mi << endl;
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        }
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        for (di = domains.begin(); di != domains.end(); di++) {
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            showDomain(m, io, *di, doIndent);
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        }
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    }
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}
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/****************************************************************************/
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void CommandDomains::showDomain(
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        MasterDevice &m,
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        const ec_ioctl_master_t &master,
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        const ec_ioctl_domain_t &domain,
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        bool doIndent
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        )
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{
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    unsigned char *processData;
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    ec_ioctl_domain_data_t data;
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    unsigned int i, j;
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    ec_ioctl_domain_fmmu_t fmmu;
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    unsigned int dataOffset;
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    string indent(doIndent ? "  " : "");
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2536d60dea6e Partial WC output in domains command.
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   142
    unsigned int wc_sum = 0, dev_idx;
2536d60dea6e Partial WC output in domains command.
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diff changeset
   143
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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   144
    for (dev_idx = EC_DEVICE_MAIN; dev_idx < master.num_devices; dev_idx++) {
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2536d60dea6e Partial WC output in domains command.
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   145
        wc_sum += domain.working_counter[dev_idx];
2536d60dea6e Partial WC output in domains command.
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parents: 1968
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   146
    }
1804
742607c464c4 Removed tabulators.
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parents: 1373
diff changeset
   147
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
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   148
    cout << indent << "Domain" << dec << domain.index << ":"
1804
742607c464c4 Removed tabulators.
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   149
        << " LogBaseAddr 0x"
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        << hex << setfill('0')
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59be91dfcbe1 Redesigned command interface.
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        << setw(8) << domain.logical_base_address
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742607c464c4 Removed tabulators.
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        << ", Size " << dec << setfill(' ')
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59be91dfcbe1 Redesigned command interface.
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        << setw(3) << domain.data_size
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742607c464c4 Removed tabulators.
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        << ", WorkingCounter "
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2536d60dea6e Partial WC output in domains command.
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   155
        << wc_sum << "/"
2536d60dea6e Partial WC output in domains command.
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   156
        << domain.expected_working_counter;
2453
d461b1f07296 Added configure option for redundancy (--with-devices).
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   157
    if (master.num_devices > 1) {
d461b1f07296 Added configure option for redundancy (--with-devices).
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   158
        cout << " (";
d461b1f07296 Added configure option for redundancy (--with-devices).
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diff changeset
   159
        for (dev_idx = EC_DEVICE_MAIN; dev_idx < master.num_devices;
d461b1f07296 Added configure option for redundancy (--with-devices).
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   160
                dev_idx++) {
d461b1f07296 Added configure option for redundancy (--with-devices).
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   161
            cout << domain.working_counter[dev_idx];
d461b1f07296 Added configure option for redundancy (--with-devices).
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   162
            if (dev_idx + 1 < master.num_devices) {
d461b1f07296 Added configure option for redundancy (--with-devices).
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   163
                cout << "+";
d461b1f07296 Added configure option for redundancy (--with-devices).
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   164
            }
d461b1f07296 Added configure option for redundancy (--with-devices).
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diff changeset
   165
        }
d461b1f07296 Added configure option for redundancy (--with-devices).
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   166
        cout << ")";
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2536d60dea6e Partial WC output in domains command.
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   167
    }
2536d60dea6e Partial WC output in domains command.
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parents: 1968
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   168
    cout << endl;
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   169
59be91dfcbe1 Redesigned command interface.
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   170
    if (!domain.data_size || getVerbosity() != Verbose)
59be91dfcbe1 Redesigned command interface.
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parents:
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   171
        return;
59be91dfcbe1 Redesigned command interface.
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parents:
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   172
59be91dfcbe1 Redesigned command interface.
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   173
    processData = new unsigned char[domain.data_size];
59be91dfcbe1 Redesigned command interface.
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parents:
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   174
59be91dfcbe1 Redesigned command interface.
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   175
    try {
1166
006244d53f68 Removed global variables.
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parents: 1144
diff changeset
   176
        m.getData(&data, domain.index, domain.data_size, processData);
1142
59be91dfcbe1 Redesigned command interface.
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parents:
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   177
    } catch (MasterDeviceException &e) {
59be91dfcbe1 Redesigned command interface.
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   178
        delete [] processData;
59be91dfcbe1 Redesigned command interface.
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   179
        throw e;
59be91dfcbe1 Redesigned command interface.
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parents:
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   180
    }
59be91dfcbe1 Redesigned command interface.
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parents:
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   181
59be91dfcbe1 Redesigned command interface.
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   182
    for (i = 0; i < domain.fmmu_count; i++) {
1166
006244d53f68 Removed global variables.
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parents: 1144
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   183
        m.getFmmu(&fmmu, domain.index, i);
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   184
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   185
        cout << indent << "  SlaveConfig "
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   186
            << dec << fmmu.slave_config_alias
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   187
            << ":" << fmmu.slave_config_position
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   188
            << ", SM" << (unsigned int) fmmu.sync_index << " ("
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   189
            << setfill(' ') << setw(6)
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
            << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   191
            << "), LogAddr 0x"
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
            << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
            << setw(8) << fmmu.logical_address
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
            << ", Size " << dec << fmmu.data_size << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
        dataOffset = fmmu.logical_address - domain.logical_base_address;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
        if (dataOffset + fmmu.data_size > domain.data_size) {
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   198
            stringstream err;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
            delete [] processData;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
            err << "Fmmu information corrupted!";
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
            throwCommandException(err);
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   202
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   204
        cout << indent << "    " << hex << setfill('0');
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
        for (j = 0; j < fmmu.data_size; j++) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   206
            if (j && !(j % BreakAfterBytes))
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   207
                cout << endl << indent << "    ";
1955
09c2bd224d3f Dropped '0x' before process data bytes to fit on an 80 col console.
Florian Pose <fp@igh-essen.com>
parents: 1869
diff changeset
   208
            cout << setw(2)
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
                << (unsigned int) *(processData + dataOffset + j) << " ";
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   210
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
        cout << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
    delete [] processData;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   217
/*****************************************************************************/