--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sdos.cpp	Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,92 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+const char *help_sdos =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void listSlaveSdos(uint16_t, bool);
+
+/****************************************************************************/
+
+void command_sdos(void)
+{
+    masterDev.open(MasterDevice::Read);
+
+    if (slavePosition == -1) {
+        unsigned int numSlaves = masterDev.slaveCount(), i;
+
+        for (i = 0; i < numSlaves; i++) {
+            listSlaveSdos(i, true);
+        }
+    } else {
+        listSlaveSdos(slavePosition, false);
+    }
+}
+
+/****************************************************************************/
+
+void listSlaveSdos(
+		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;
+    
+    masterDev.getSlave(&slave, slavePosition);
+
+    if (withHeader)
+        cout << "=== Slave " << slavePosition << " ===" << endl;
+
+    for (i = 0; i < slave.sdo_count; i++) {
+        masterDev.getSdo(&sdo, slavePosition, i);
+
+        cout << "Sdo 0x"
+            << hex << setfill('0')
+            << setw(4) << sdo.sdo_index
+            << ", \"" << sdo.name << "\"" << endl;
+
+        if (verbosity == Quiet)
+            continue;
+
+        for (j = 0; j <= sdo.max_subindex; j++) {
+            masterDev.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;
+        }
+    }
+}
+
+/*****************************************************************************/