--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandSdos.cpp	Thu Jul 24 13:27:06 2008 +0000
@@ -0,0 +1,124 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandSdos.h"
+#include "coe_datatypes.h"
+
+/*****************************************************************************/
+
+CommandSdos::CommandSdos():
+    Command("sdos", "List Sdo dictionaries.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandSdos::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS]" << endl
+    	<< endl
+    	<< getBriefDescription() << endl
+    	<< endl
+    	<< "Sdo dictionary information is displayed in two layers," << endl
+    	<< "which are indented accordingly:" << endl
+    	<< endl
+    	<< "1) Sdos - Hexadecimal Sdo index and the name. Example:" << endl
+    	<< endl
+    	<< "   Sdo 0x1018, \"Identity object\"" << endl
+    	<< endl
+    	<< "2) Sdo entries - Sdo index and Sdo entry subindex (both" << endl
+		<< "   hexadecimal) followed by the data type, the length in" << endl
+		<< "   bit, and the description. Example:" << endl
+    	<< endl
+    	<< "   0x1018:01, uint32, 32 bit, \"Vendor id\"" << endl
+    	<< endl
+    	<< "If the --quiet option is given, only the Sdos are printed."
+		<< endl << endl
+    	<< "Command-specific options:" << endl
+    	<< "  --slave -s <index>  Positive numerical ring position," << endl
+		<< "                      'all' for all slaves (default)." << endl
+    	<< "  --quiet -q          Print only Sdos (without Sdo" << endl
+		<< "                      entries)." << endl
+    	<< endl
+		<< numericInfo();
+
+	return str.str();
+}
+
+/****************************************************************************/
+
+void CommandSdos::execute(MasterDevice &m, const StringVector &args)
+{
+    m.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = m.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlaveSdos(m, i, true);
+        }
+    } else {
+        listSlaveSdos(m, slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void CommandSdos::listSlaveSdos(
+		MasterDevice &m,
+		uint16_t slavePosition,
+		bool withHeader
+		)
+{
+    ec_ioctl_slave_t slave;
+    ec_ioctl_slave_sdo_t sdo;
+    ec_ioctl_slave_sdo_entry_t entry;
+    unsigned int i, j;
+    const CoEDataType *d;
+    
+    m.getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sdo_count; i++) {
+        m.getSdo(&sdo, slavePosition, i);
+
+        cout << "Sdo 0x"
+            << hex << setfill('0')
+            << setw(4) << sdo.sdo_index
+            << ", \"" << sdo.name << "\"" << endl;
+
+        if (getVerbosity() == Quiet)
+            continue;
+
+        for (j = 0; j <= sdo.max_subindex; j++) {
+            m.getSdoEntry(&entry, slavePosition, -i, j);
+
+            cout << "  0x" << hex << setfill('0')
+                << setw(4) << sdo.sdo_index << ":"
+                << setw(2) << (unsigned int) entry.sdo_entry_subindex
+                << ", ";
+
+            if ((d = findDataType(entry.data_type))) {
+                cout << d->name;
+            } else {
+                cout << "type " << setw(4) << entry.data_type;
+            }
+
+            cout << ", " << dec << entry.bit_length << " bit, \""
+                << entry.description << "\"" << endl;
+        }
+    }
+}
+
+/*****************************************************************************/