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