fp@1142: /*****************************************************************************
fp@1142:  *
fp@1142:  * $Id$
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandSdos.h"
fp@1142: #include "coe_datatypes.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandSdos::CommandSdos():
fp@1142:     Command("sdos", "List Sdo dictionaries.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: string CommandSdos::helpString() const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1142:     str << getName() << " [OPTIONS]" << endl
fp@1142:     	<< endl
fp@1142:     	<< getBriefDescription() << endl
fp@1142:     	<< endl
fp@1142:     	<< "Sdo dictionary information is displayed in two layers," << endl
fp@1142:     	<< "which are indented accordingly:" << endl
fp@1142:     	<< endl
fp@1142:     	<< "1) Sdos - Hexadecimal Sdo index and the name. Example:" << endl
fp@1142:     	<< endl
fp@1142:     	<< "   Sdo 0x1018, \"Identity object\"" << endl
fp@1142:     	<< endl
fp@1142:     	<< "2) Sdo entries - Sdo index and Sdo entry subindex (both" << endl
fp@1142: 		<< "   hexadecimal) followed by the data type, the length in" << endl
fp@1142: 		<< "   bit, and the description. Example:" << endl
fp@1142:     	<< endl
fp@1142:     	<< "   0x1018:01, uint32, 32 bit, \"Vendor id\"" << endl
fp@1142:     	<< endl
fp@1142:     	<< "If the --quiet option is given, only the Sdos are printed."
fp@1142: 		<< endl << endl
fp@1142:     	<< "Command-specific options:" << endl
fp@1142:     	<< "  --slave -s <index>  Positive numerical ring position," << endl
fp@1142: 		<< "                      'all' for all slaves (default)." << endl
fp@1142:     	<< "  --quiet -q          Print only Sdos (without Sdo" << endl
fp@1142: 		<< "                      entries)." << endl
fp@1142:     	<< endl
fp@1142: 		<< numericInfo();
fp@1142: 
fp@1142: 	return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandSdos::execute(MasterDevice &m, const StringVector &args)
fp@1142: {
fp@1142:     m.open(MasterDevice::Read);
fp@1142: 
fp@1142:     if (slavePosition == -1) {
fp@1142:         unsigned int numSlaves = m.slaveCount(), i;
fp@1142: 
fp@1142:         for (i = 0; i < numSlaves; i++) {
fp@1142:             listSlaveSdos(m, i, true);
fp@1142:         }
fp@1142:     } else {
fp@1142:         listSlaveSdos(m, slavePosition, false);
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandSdos::listSlaveSdos(
fp@1142: 		MasterDevice &m,
fp@1142: 		uint16_t slavePosition,
fp@1142: 		bool withHeader
fp@1142: 		)
fp@1142: {
fp@1142:     ec_ioctl_slave_t slave;
fp@1142:     ec_ioctl_slave_sdo_t sdo;
fp@1142:     ec_ioctl_slave_sdo_entry_t entry;
fp@1142:     unsigned int i, j;
fp@1142:     const CoEDataType *d;
fp@1142:     
fp@1142:     m.getSlave(&slave, slavePosition);
fp@1142: 
fp@1142:     if (withHeader)
fp@1142:         cout << "=== Slave " << slavePosition << " ===" << endl;
fp@1142: 
fp@1142:     for (i = 0; i < slave.sdo_count; i++) {
fp@1142:         m.getSdo(&sdo, slavePosition, i);
fp@1142: 
fp@1142:         cout << "Sdo 0x"
fp@1142:             << hex << setfill('0')
fp@1142:             << setw(4) << sdo.sdo_index
fp@1142:             << ", \"" << sdo.name << "\"" << endl;
fp@1142: 
fp@1142:         if (getVerbosity() == Quiet)
fp@1142:             continue;
fp@1142: 
fp@1142:         for (j = 0; j <= sdo.max_subindex; j++) {
fp@1142:             m.getSdoEntry(&entry, slavePosition, -i, j);
fp@1142: 
fp@1142:             cout << "  0x" << hex << setfill('0')
fp@1142:                 << setw(4) << sdo.sdo_index << ":"
fp@1142:                 << setw(2) << (unsigned int) entry.sdo_entry_subindex
fp@1142:                 << ", ";
fp@1142: 
fp@1142:             if ((d = findDataType(entry.data_type))) {
fp@1142:                 cout << d->name;
fp@1142:             } else {
fp@1142:                 cout << "type " << setw(4) << entry.data_type;
fp@1142:             }
fp@1142: 
fp@1142:             cout << ", " << dec << entry.bit_length << " bit, \""
fp@1142:                 << entry.description << "\"" << endl;
fp@1142:         }
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/