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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 "CommandSdos.h"

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#include "MasterDevice.h"

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

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CommandSdos::CommandSdos():

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    SdoCommand("sdos", "List SDO dictionaries.")

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{

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}

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

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string CommandSdos::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS]" << endl

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        << endl

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        << getBriefDescription() << endl

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        << endl

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        << "SDO dictionary information is displayed in two layers," << endl

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        << "which are indented accordingly:" << endl

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        << endl

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        << "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl

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        << endl

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        << "   SDO 0x1018, \"Identity object\"" << endl

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        << endl

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        << "2) SDO entries - SDO index and SDO entry subindex (both" << endl

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        << "   hexadecimal) followed by the access rights (see" << endl

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        << "   below), the data type, the length in bit, and the" << endl

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        << "   description. Example:" << endl

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        << endl

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        << "   0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl

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        << endl

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        << "The access rights are specified for the AL states PREOP," << endl

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        << "SAFEOP and OP. An 'r' means, that the entry is readable" << endl

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        << "in the corresponding state, an 'w' means writable," << endl

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        << "respectively. If a right is not granted, a dash '-' is" << endl

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        << "shown." << endl

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        << endl

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        << "If the --quiet option is given, only the SDOs are output."

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        << endl << endl

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

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        << "  --alias    -a <alias>" << endl

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        << "  --position -p <pos>    Slave selection. See the help of" << endl

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        << "                         the 'slaves' command." << endl

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        << "  --quiet    -q          Only output SDOs (without the" << endl

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        << "                         SDO entries)." << 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 CommandSdos::execute(const StringVector &args)

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{

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	MasterIndexList masterIndices;

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    SlaveList slaves;

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    SlaveList::const_iterator si;

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    bool showHeader, multiMaster;

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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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    multiMaster = 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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        MasterDevice m(*mi);

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        m.open(MasterDevice::Read);

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        slaves = selectedSlaves(m);

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        showHeader = multiMaster || slaves.size() > 1;

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        for (si = slaves.begin(); si != slaves.end(); si++) {

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            listSlaveSdos(m, *si, showHeader);

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        }

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    }

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}

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

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void CommandSdos::listSlaveSdos(

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        MasterDevice &m,

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        const ec_ioctl_slave_t &slave,

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        bool showHeader

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        )

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{

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    ec_ioctl_slave_sdo_t sdo;

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    ec_ioctl_slave_sdo_entry_t entry;

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    unsigned int i, j;

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    const DataType *d;

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    if (showHeader && slave.sdo_count)

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        cout << "=== Master " << m.getIndex()

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            << ", Slave " << slave.position << " ===" << endl;

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    for (i = 0; i < slave.sdo_count; i++) {

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        m.getSdo(&sdo, slave.position, i);

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        cout << "SDO 0x"

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            << hex << setfill('0')

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            << setw(4) << sdo.sdo_index

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            << ", \"" << sdo.name << "\"" << endl;

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        if (getVerbosity() == Quiet)

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            continue;

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        for (j = 0; j <= sdo.max_subindex; j++) {

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            m.getSdoEntry(&entry, slave.position, -i, j);

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

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

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

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                << ", "

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                << (entry.read_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "r" : "-")

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                << (entry.write_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "w" : "-")

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                << (entry.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "r" : "-")

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                << (entry.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "w" : "-")

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                << (entry.read_access[EC_SDO_ENTRY_ACCESS_OP] ? "r" : "-")

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                << (entry.write_access[EC_SDO_ENTRY_ACCESS_OP] ? "w" : "-")

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                << ", ";

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            if ((d = findDataType(entry.data_type))) {

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                cout << d->name;

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            } else {

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                cout << "type " << setw(4) << entry.data_type;

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            }

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            cout << ", " << dec << entry.bit_length << " bit, \""

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                << entry.description << "\"" << endl;

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        }

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    }

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}

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