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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 "CommandSiiRead.h"

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#include "MasterDevice.h"

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

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CommandSiiRead::CommandSiiRead():

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    Command("sii_read", "Output a slave's SII contents.")

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{

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}

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

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string CommandSiiRead::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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        << "This command requires a single slave to be selected." << endl

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        << endl

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        << "Without the --verbose option, binary SII contents are" << endl

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        << "output." << endl

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        << endl

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        << "With the --verbose option given, a textual representation" << endl

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        << "of the data is output, that is separated by SII category" << endl

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        << "names." << endl

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        << 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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        << "  --verbose  -v          Output textual data with" << endl

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        << "                         category names." << 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 CommandSiiRead::execute(const StringVector &args)

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{

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    SlaveList slaves;

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    ec_ioctl_slave_t *slave;

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    ec_ioctl_slave_sii_t data;

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    unsigned int i;

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    const uint16_t *categoryHeader;

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    uint16_t categoryType, categorySize;

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    stringstream err;

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    if (args.size()) {

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        err << "'" << getName() << "' takes no arguments!";

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        throwInvalidUsageException(err);

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    }

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    MasterDevice m(getSingleMasterIndex());

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    m.open(MasterDevice::Read);

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    slaves = selectedSlaves(m);

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    if (slaves.size() != 1) {

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        throwSingleSlaveRequired(slaves.size());

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    }

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    slave = &slaves.front();

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    data.slave_position = slave->position;

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    if (!slave->sii_nwords)

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        return;

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    data.offset = 0;

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    data.nwords = slave->sii_nwords;

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    data.words = new uint16_t[data.nwords];

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    try {

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        m.readSii(&data);

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    } catch (MasterDeviceException &e) {

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        delete [] data.words;

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        throw e;

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    }

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    if (getVerbosity() == Verbose) {

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        cout << "SII Area:" << hex << setfill('0');

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        for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) {

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            if (i % BreakAfterBytes) {

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                cout << " ";

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            } else {

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                cout << endl << "  ";

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            }

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            cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i);

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        }

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        cout << endl;

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        if (data.nwords > 0x0040U) {

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            // cycle through categories

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            categoryHeader = data.words + 0x0040U;

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            categoryType = le16_to_cpup(categoryHeader);

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            while (categoryType != 0xffff) {

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                cout << "SII Category 0x" << hex

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                    << setw(4) << categoryType

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                    << " (" << getCategoryName(categoryType) << ")" << flush;

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                if (categoryHeader + 1 > data.words + data.nwords) {

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                    err << "SII data seem to be corrupted!";

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                    throwCommandException(err);

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                }

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                categorySize = le16_to_cpup(categoryHeader + 1);

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                cout << ", " << dec << categorySize << " words" << flush;

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                if (categoryHeader + 2 + categorySize

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                        > data.words + data.nwords) {

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                    err << "SII data seem to be corrupted!";

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                    throwCommandException(err);

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                }

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                cout << hex;

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                for (i = 0; i < categorySize * 2U; i++) {

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                    if (i % BreakAfterBytes) {

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                        cout << " ";

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                    } else {

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                        cout << endl << "  ";

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                    }

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                    cout << setw(2) << (unsigned int)

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                        *((uint8_t *) (categoryHeader + 2) + i);

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                }

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                cout << endl;

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                if (categoryHeader + 2 + categorySize + 1

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                        > data.words + data.nwords) {

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                    err << "SII data seem to be corrupted!"; 

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                    throwCommandException(err);

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                }

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                categoryHeader += 2 + categorySize;

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                categoryType = le16_to_cpup(categoryHeader);

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            }

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        }

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    } else {

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        for (i = 0; i < data.nwords; i++) {

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            uint16_t *w = data.words + i;

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            cout << *(uint8_t *) w << *((uint8_t *) w + 1);

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        }

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    }

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    delete [] data.words;

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}

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

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const CommandSiiRead::CategoryName CommandSiiRead::categoryNames[] = {

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    {0x000a, "STRINGS"},

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    {0x0014, "DataTypes"},

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    {0x001e, "General"},

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    {0x0028, "FMMU"},

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    {0x0029, "SyncM"},

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    {0x0032, "TXPDO"},

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    {0x0033, "RXPDO"},

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    {0x003c, "DC"},

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    {}

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};

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

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const char *CommandSiiRead::getCategoryName(uint16_t type)

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{

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    const CategoryName *cn = categoryNames;

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    while (cn->type) {

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        if (cn->type == type) {

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            return cn->name;

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        }

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        cn++;

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    }

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    return "unknown";

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}

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