tool/CommandSdos.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 21 Oct 2013 19:27:50 +0200
branchstable-1.5
changeset 2532 bdadf6da4914
parent 2421 bc2d4bf9cbe5
child 2694 ab97efc5513a
permissions -rw-r--r--
Added configure switch --disable-rt-syslog.
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/*****************************************************************************
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     3
 *  $Id$
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     4
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     5
 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     6
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     8
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    11
 *  published by the Free Software Foundation.
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    12
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    16
 *  Public License for more details.
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    17
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    21
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 ****************************************************************************/
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
#include <iostream>
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
#include <iomanip>
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
using namespace std;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
#include "CommandSdos.h"
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
    35
#include "MasterDevice.h"
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
/*****************************************************************************/
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
CommandSdos::CommandSdos():
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
    40
    SdoCommand("sdos", "List SDO dictionaries.")
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
{
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
/*****************************************************************************/
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
1968
4f682084c643 Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents: 1869
diff changeset
    46
string CommandSdos::helpString(const string &binaryBaseName) const
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
{
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
    stringstream str;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
1968
4f682084c643 Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents: 1869
diff changeset
    50
    str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    51
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    52
        << getBriefDescription() << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    53
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    54
        << "SDO dictionary information is displayed in two layers," << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    55
        << "which are indented accordingly:" << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    56
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    57
        << "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    58
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    59
        << "   SDO 0x1018, \"Identity object\"" << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    60
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    61
        << "2) SDO entries - SDO index and SDO entry subindex (both" << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    62
        << "   hexadecimal) followed by the access rights (see" << endl
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    63
        << "   below), the data type, the length in bit, and the" << endl
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    64
        << "   description. Example:" << endl
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    65
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    66
        << "   0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    67
        << endl
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    68
        << "The access rights are specified for the AL states PREOP," << endl
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    69
        << "SAFEOP and OP. An 'r' means, that the entry is readable" << endl
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    70
        << "in the corresponding state, an 'w' means writable," << endl
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    71
        << "respectively. If a right is not granted, a dash '-' is" << endl
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    72
        << "shown." << endl
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
    73
        << endl
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    74
        << "If the --quiet option is given, only the SDOs are output."
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    75
        << endl << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    76
        << "Command-specific options:" << endl
1157
04d1c950cf9d Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
    77
        << "  --alias    -a <alias>" << endl
04d1c950cf9d Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
    78
        << "  --position -p <pos>    Slave selection. See the help of" << endl
04d1c950cf9d Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
    79
        << "                         the 'slaves' command." << endl
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    80
        << "  --quiet    -q          Only output SDOs (without the" << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    81
        << "                         SDO entries)." << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    82
        << endl
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    83
        << numericInfo();
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
    85
    return str.str();
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    88
/****************************************************************************/
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    89
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
    90
void CommandSdos::execute(const StringVector &args)
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
{
1869
14f634f5b613 Open master device as late as possible.
Florian Pose <fp@igh-essen.com>
parents: 1827
diff changeset
    92
	MasterIndexList masterIndices;
1151
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
    93
    SlaveList slaves;
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
    94
    SlaveList::const_iterator si;
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
    95
    bool showHeader, multiMaster;
1151
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
    96
1373
e651000f1ff1 Complain about given arguments if none are required.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    97
    if (args.size()) {
e651000f1ff1 Complain about given arguments if none are required.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    98
        stringstream err;
e651000f1ff1 Complain about given arguments if none are required.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    99
        err << "'" << getName() << "' takes no arguments!";
e651000f1ff1 Complain about given arguments if none are required.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   100
        throwInvalidUsageException(err);
e651000f1ff1 Complain about given arguments if none are required.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   101
    }
e651000f1ff1 Complain about given arguments if none are required.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   102
1869
14f634f5b613 Open master device as late as possible.
Florian Pose <fp@igh-essen.com>
parents: 1827
diff changeset
   103
	masterIndices = getMasterIndices();
14f634f5b613 Open master device as late as possible.
Florian Pose <fp@igh-essen.com>
parents: 1827
diff changeset
   104
    multiMaster = masterIndices.size() > 1;
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   105
    MasterIndexList::const_iterator mi;
1869
14f634f5b613 Open master device as late as possible.
Florian Pose <fp@igh-essen.com>
parents: 1827
diff changeset
   106
    for (mi = masterIndices.begin();
14f634f5b613 Open master device as late as possible.
Florian Pose <fp@igh-essen.com>
parents: 1827
diff changeset
   107
            mi != masterIndices.end(); mi++) {
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   108
        MasterDevice m(*mi);
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   109
        m.open(MasterDevice::Read);
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   110
        slaves = selectedSlaves(m);
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   111
        showHeader = multiMaster || slaves.size() > 1;
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   112
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   113
        for (si = slaves.begin(); si != slaves.end(); si++) {
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   114
            listSlaveSdos(m, *si, showHeader);
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   115
        }
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   116
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   117
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   118
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   119
/****************************************************************************/
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   120
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   121
void CommandSdos::listSlaveSdos(
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
   122
        MasterDevice &m,
1151
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   123
        const ec_ioctl_slave_t &slave,
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
   124
        bool showHeader
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
   125
        )
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   126
{
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   127
    ec_ioctl_slave_sdo_t sdo;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   128
    ec_ioctl_slave_sdo_entry_t entry;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   129
    unsigned int i, j;
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1157
diff changeset
   130
    const DataType *d;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   131
1827
489be2180f71 Improved multi-master capabilities of ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   132
    if (showHeader && slave.sdo_count)
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   133
        cout << "=== Master " << m.getIndex()
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   134
            << ", Slave " << slave.position << " ===" << endl;
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   135
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   136
    for (i = 0; i < slave.sdo_count; i++) {
1151
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   137
        m.getSdo(&sdo, slave.position, i);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   138
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   139
        cout << "SDO 0x"
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   140
            << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   141
            << setw(4) << sdo.sdo_index
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   142
            << ", \"" << sdo.name << "\"" << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   143
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   144
        if (getVerbosity() == Quiet)
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   145
            continue;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   146
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   147
        for (j = 0; j <= sdo.max_subindex; j++) {
1151
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   148
            m.getSdoEntry(&entry, slave.position, -i, j);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   149
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   150
            cout << "  0x" << hex << setfill('0')
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   151
                << setw(4) << sdo.sdo_index << ":"
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
                << setw(2) << (unsigned int) entry.sdo_entry_subindex
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   153
                << ", "
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   154
                << (entry.read_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "r" : "-")
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   155
                << (entry.write_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "w" : "-")
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   156
                << (entry.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "r" : "-")
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   157
                << (entry.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "w" : "-")
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   158
                << (entry.read_access[EC_SDO_ENTRY_ACCESS_OP] ? "r" : "-")
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1373
diff changeset
   159
                << (entry.write_access[EC_SDO_ENTRY_ACCESS_OP] ? "w" : "-")
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   160
                << ", ";
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
            if ((d = findDataType(entry.data_type))) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
                cout << d->name;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
            } else {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
                cout << "type " << setw(4) << entry.data_type;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   166
            }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   167
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
            cout << ", " << dec << entry.bit_length << " bit, \""
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
                << entry.description << "\"" << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   170
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   171
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   173
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
/*****************************************************************************/