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1 /***************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 ****************************************************************************/ |
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6 |
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7 #include <iostream> |
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8 #include <iomanip> |
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9 #include <list> |
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10 using namespace std; |
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11 |
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12 #include "CommandSlaves.h" |
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13 |
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14 /*****************************************************************************/ |
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15 |
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16 CommandSlaves::CommandSlaves(): |
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17 Command("slaves", "Display slaves on the bus.") |
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18 { |
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19 } |
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20 |
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21 /*****************************************************************************/ |
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22 |
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23 string CommandSlaves::helpString() const |
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24 { |
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25 stringstream str; |
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26 |
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27 str << getName() << " [OPTIONS]" << endl |
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28 << endl |
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29 << getBriefDescription() << endl |
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30 << endl |
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31 << "If the --verbose option is not given, the slaves are" << endl |
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32 << "displayed one-per-line. Example:" << endl |
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33 << endl |
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34 << "1 5555:0 PREOP + EL3162 2C. Ana. Input 0-10V" << endl |
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35 << "| | | | | |" << endl |
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36 << "| | | | | \\- Name from SII if avaliable," << endl |
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37 << "| | | | | otherwise hexadecimal vendor ID" << endl |
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38 << "| | | | | and product code separated by a" << endl |
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39 << "| | | | | colon." << endl |
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40 << "| | | | \\- Error flag. '+' means no error," << endl |
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41 << "| | | | 'E' means that scanning or" << endl |
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42 << "| | | | configuration failed." << endl |
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43 << "| | | \\- Current slave state." << endl |
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44 << "| | \\- Relative position (decimal) after the last" << endl |
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45 << "| | slave with an alias address set." << endl |
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46 << "| \\- Alias address of the slave (if set to non-zero)," << endl |
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47 << "| or the alias of the last slave with an alias set," << endl |
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48 << "| or zero if there is none." << endl |
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49 << "\\- Ring position (use this with any --slave option)." << endl |
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50 << endl |
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51 << "If the --verbose option is given, a detailed (multi-line)" << endl |
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52 << "description is output for each slave." << endl |
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53 << endl |
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54 << "Command-specific options:" << endl |
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55 << " --slave -s <index> Positive numerical ring position," << endl |
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56 << " or 'all' for all slaves (default)." << endl |
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57 << " --verbose -v Show detailed slave information." << endl |
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58 << endl |
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59 << numericInfo(); |
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60 |
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61 return str.str(); |
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62 } |
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63 |
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64 /****************************************************************************/ |
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65 |
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66 void CommandSlaves::execute(MasterDevice &m, const StringVector &args) |
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67 { |
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68 m.open(MasterDevice::Read); |
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69 |
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70 if (getVerbosity() == Verbose) { |
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71 if (slavePosition == -1) { |
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72 unsigned int numSlaves = m.slaveCount(), i; |
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73 |
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74 for (i = 0; i < numSlaves; i++) { |
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75 showSlave(m, i); |
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76 } |
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77 } else { |
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78 showSlave(m, slavePosition); |
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79 } |
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80 } else { |
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81 listSlaves(m, slavePosition); |
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82 } |
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83 } |
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84 |
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85 /****************************************************************************/ |
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86 |
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87 void CommandSlaves::listSlaves( |
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88 MasterDevice &m, |
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89 int slavePosition |
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90 ) |
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91 { |
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92 unsigned int numSlaves, i; |
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93 ec_ioctl_slave_t slave; |
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94 uint16_t lastAlias, aliasIndex; |
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95 Info info; |
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96 typedef list<Info> InfoList; |
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97 InfoList infoList; |
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98 InfoList::const_iterator iter; |
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99 stringstream str; |
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100 unsigned int maxPosWidth = 0, maxAliasWidth = 0, |
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101 maxRelPosWidth = 0, maxStateWidth = 0; |
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102 |
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103 numSlaves = m.slaveCount(); |
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104 |
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105 lastAlias = 0; |
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106 aliasIndex = 0; |
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107 for (i = 0; i < numSlaves; i++) { |
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108 m.getSlave(&slave, i); |
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109 |
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110 if (slave.alias) { |
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111 lastAlias = slave.alias; |
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112 aliasIndex = 0; |
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113 } |
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114 |
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115 if (slavePosition == -1 || i == (unsigned int) slavePosition) { |
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116 str << dec << i; |
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117 info.pos = str.str(); |
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118 str.clear(); |
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119 str.str(""); |
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120 |
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121 str << lastAlias; |
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122 info.alias = str.str(); |
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123 str.str(""); |
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124 |
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125 str << aliasIndex; |
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126 info.relPos = str.str(); |
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127 str.str(""); |
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128 |
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129 info.state = slaveState(slave.state); |
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130 info.flag = (slave.error_flag ? 'E' : '+'); |
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131 |
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132 if (strlen(slave.name)) { |
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133 info.name = slave.name; |
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134 } else { |
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135 str << "0x" << hex << setfill('0') |
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136 << setw(8) << slave.vendor_id << ":0x" |
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137 << setw(8) << slave.product_code; |
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138 info.name = str.str(); |
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139 str.str(""); |
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140 } |
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141 |
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142 |
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143 infoList.push_back(info); |
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144 |
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145 if (info.pos.length() > maxPosWidth) |
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146 maxPosWidth = info.pos.length(); |
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147 if (info.alias.length() > maxAliasWidth) |
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148 maxAliasWidth = info.alias.length(); |
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149 if (info.relPos.length() > maxRelPosWidth) |
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150 maxRelPosWidth = info.relPos.length(); |
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151 if (info.state.length() > maxStateWidth) |
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152 maxStateWidth = info.state.length(); |
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153 } |
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154 |
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155 aliasIndex++; |
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156 } |
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157 |
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158 for (iter = infoList.begin(); iter != infoList.end(); iter++) { |
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159 cout << setfill(' ') << right |
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160 << setw(maxPosWidth) << iter->pos << " " |
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161 << setw(maxAliasWidth) << iter->alias |
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162 << ":" << left |
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163 << setw(maxRelPosWidth) << iter->relPos << " " |
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164 << setw(maxStateWidth) << iter->state << " " |
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165 << iter->flag << " " |
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166 << iter->name << endl; |
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167 } |
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168 } |
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169 |
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170 /****************************************************************************/ |
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171 |
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172 void CommandSlaves::showSlave( |
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173 MasterDevice &m, |
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174 uint16_t slavePosition |
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175 ) |
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176 { |
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177 ec_ioctl_slave_t slave; |
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178 list<string> protoList; |
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179 list<string>::const_iterator protoIter; |
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180 |
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181 m.getSlave(&slave, slavePosition); |
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182 |
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183 cout << "=== Slave " << dec << slavePosition << " ===" << endl; |
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184 |
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185 if (slave.alias) |
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186 cout << "Alias: " << slave.alias << endl; |
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187 |
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188 cout |
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189 << "State: " << slaveState(slave.state) << endl |
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190 << "Flag: " << (slave.error_flag ? 'E' : '+') << endl |
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191 << "Identity:" << endl |
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192 << " Vendor Id: 0x" |
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193 << hex << setfill('0') |
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194 << setw(8) << slave.vendor_id << endl |
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195 << " Product code: 0x" |
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196 << setw(8) << slave.product_code << endl |
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197 << " Revision number: 0x" |
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198 << setw(8) << slave.revision_number << endl |
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199 << " Serial number: 0x" |
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200 << setw(8) << slave.serial_number << endl; |
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201 |
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202 if (slave.mailbox_protocols) { |
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203 cout << "Mailboxes:" << endl |
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204 << " RX: 0x" |
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205 << hex << setw(4) << slave.rx_mailbox_offset << "/" |
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206 << dec << slave.rx_mailbox_size |
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207 << ", TX: 0x" |
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208 << hex << setw(4) << slave.tx_mailbox_offset << "/" |
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209 << dec << slave.tx_mailbox_size << endl |
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210 << " Supported protocols: "; |
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211 |
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212 if (slave.mailbox_protocols & EC_MBOX_AOE) { |
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213 protoList.push_back("AoE"); |
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214 } |
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215 if (slave.mailbox_protocols & EC_MBOX_EOE) { |
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216 protoList.push_back("EoE"); |
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217 } |
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218 if (slave.mailbox_protocols & EC_MBOX_COE) { |
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219 protoList.push_back("CoE"); |
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220 } |
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221 if (slave.mailbox_protocols & EC_MBOX_FOE) { |
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222 protoList.push_back("FoE"); |
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223 } |
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224 if (slave.mailbox_protocols & EC_MBOX_SOE) { |
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225 protoList.push_back("SoE"); |
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226 } |
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227 if (slave.mailbox_protocols & EC_MBOX_VOE) { |
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228 protoList.push_back("VoE"); |
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229 } |
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230 |
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231 for (protoIter = protoList.begin(); protoIter != protoList.end(); |
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232 protoIter++) { |
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233 if (protoIter != protoList.begin()) |
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234 cout << ", "; |
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235 cout << *protoIter; |
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236 } |
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237 cout << endl; |
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238 } |
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239 |
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240 if (slave.has_general_category) { |
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241 cout << "General:" << endl |
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242 << " Group: " << slave.group << endl |
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243 << " Image name: " << slave.image << endl |
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244 << " Order number: " << slave.order << endl |
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245 << " Device name: " << slave.name << endl; |
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246 |
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247 if (slave.mailbox_protocols & EC_MBOX_COE) { |
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248 cout << " CoE details:" << endl |
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249 << " Enable Sdo: " |
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250 << (slave.coe_details.enable_sdo ? "yes" : "no") << endl |
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251 << " Enable Sdo Info: " |
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252 << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl |
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253 << " Enable Pdo Assign: " |
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254 << (slave.coe_details.enable_pdo_assign |
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255 ? "yes" : "no") << endl |
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256 << " Enable Pdo Configuration: " |
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257 << (slave.coe_details.enable_pdo_configuration |
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258 ? "yes" : "no") << endl |
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259 << " Enable Upload at startup: " |
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260 << (slave.coe_details.enable_upload_at_startup |
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261 ? "yes" : "no") << endl |
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262 << " Enable Sdo complete access: " |
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263 << (slave.coe_details.enable_sdo_complete_access |
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264 ? "yes" : "no") << endl; |
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265 } |
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266 |
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267 cout << " Flags:" << endl |
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268 << " Enable SafeOp: " |
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269 << (slave.general_flags.enable_safeop ? "yes" : "no") << endl |
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270 << " Enable notLRW: " |
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271 << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl |
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272 << " Current consumption: " |
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273 << dec << slave.current_on_ebus << " mA" << endl; |
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274 } |
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275 } |
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276 |
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277 /****************************************************************************/ |
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278 |
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279 string CommandSlaves::slaveState(uint8_t state) |
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280 { |
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281 switch (state) { |
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282 case 1: return "INIT"; |
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283 case 2: return "PREOP"; |
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284 case 4: return "SAFEOP"; |
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285 case 8: return "OP"; |
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286 default: return "???"; |
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287 } |
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288 } |
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289 |
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290 /*****************************************************************************/ |