--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tools/Master.cpp	Thu May 29 15:11:26 2008 +0000
@@ -0,0 +1,140 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+using namespace std;
+
+#include "Master.h"
+#include "../master/ioctl.h"
+
+/****************************************************************************/
+
+Master::Master()
+{
+    index = 0;
+    fd = -1;
+}
+
+/****************************************************************************/
+
+Master::~Master()
+{
+    close();
+}
+
+/****************************************************************************/
+
+void Master::open(unsigned int index)
+{
+    stringstream deviceName;
+    
+    Master::index = index;
+
+    deviceName << "/dev/EtherCAT" << index;
+    
+    if ((fd = ::open(deviceName.str().c_str(), O_RDONLY)) == -1) {
+        stringstream err;
+        err << "Failed to open master device " << deviceName.str() << ": "
+            << strerror(errno);
+        throw MasterException(err.str());
+    }
+}
+
+/****************************************************************************/
+
+void Master::close()
+{
+    if (fd == -1)
+        return;
+
+    ::close(fd);
+}
+
+/****************************************************************************/
+
+unsigned int Master::slaveCount()
+{
+    unsigned int numSlaves;
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_COUNT, &numSlaves)) {
+        stringstream err;
+        err << "Failed to get number of slaves: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+
+    return numSlaves;
+}
+
+/****************************************************************************/
+
+void Master::listSlaves()
+{
+    unsigned int numSlaves = slaveCount(), i;
+    struct ec_ioctl_slave_info *infos, *info;
+    uint16_t lastAlias, aliasIndex;
+    
+    if (!numSlaves)
+        return;
+    
+    infos = new struct ec_ioctl_slave_info[numSlaves];
+
+    if (ioctl(fd, EC_IOCTL_SLAVE_INFO, infos)) {
+        stringstream err;
+        err << "Failed to get slave information: " << strerror(errno);
+        throw MasterException(err.str());
+    }
+
+    lastAlias = 0;
+    aliasIndex = 0;
+    for (i = 0; i < numSlaves; i++) {
+        info = &infos[i];
+        cout << setw(2) << info->ring_position << "  ";
+
+        if (info->alias) {
+            lastAlias = info->alias;
+            aliasIndex = 0;
+        }
+        if (lastAlias) {
+            cout << setw(10) << "#" << lastAlias << ":" << aliasIndex;
+        }
+
+        cout << "  " << slaveState(info->state) << "  ";
+
+        if (strlen(info->description)) {
+            cout << info->description;
+        } else {
+            cout << "0x" << hex << setfill('0') << info->vendor_id
+                << ":0x" << info->product_code;
+        }
+
+        cout << endl;
+    }
+
+    delete [] infos;
+}
+
+/****************************************************************************/
+
+string Master::slaveState(uint8_t state) const
+{
+    switch (state) {
+        case 1: return "INIT";
+        case 2: return "PREOP";
+        case 4: return "SAFEOP";
+        case 8: return "OP";
+        default: return "???";
+    }
+}
+
+/****************************************************************************/