fp@1126: /*****************************************************************************
fp@1126:  *
fp@1126:  * $Id$
fp@1126:  *
fp@1126:  ****************************************************************************/
fp@1126: 
fp@1126: #include <iostream>
fp@1126: #include <iomanip>
fp@1126: using namespace std;
fp@1126: 
fp@1126: #include "globals.h"
fp@1126: #include "coe_datatypes.h"
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: const char *help_sdos =
fp@1126:     "[OPTIONS]\n"
fp@1126:     "\n"
fp@1137:     "Displays the Sdo dictionary with Sdos and Sdo entries.\n"
fp@1126:     "\n"
fp@1137:     "Sdo dictionary information is displayed in two layers, with are\n"
fp@1137:     "indented accordingly:\n"
fp@1137:     "\n"
fp@1137:     "1) Sdos - Hexadecimal Sdo index and the name. Example:\n"
fp@1137:     "\n"
fp@1137:     "   Sdo 0x1018, \"Identity object\"\n"
fp@1137:     "\n"
fp@1137:     "2) Sdo entries - Sdo index and Sdo entry subindex (both hexadecimal)\n"
fp@1137:     "   followed by the data type, the length in bit, and the description.\n"
fp@1137:     "   Example:\n"
fp@1137:     "\n"
fp@1137:     "   0x1018:01, uint32, 32 bit, \"Vendor id\"\n"
fp@1137:     "\n"
fp@1137:     "If the --quiet option is given, only the Sdos are printed.\n"
fp@1137:     "\n"
fp@1137:     "Command-specific options:\n"
fp@1137:     "  --slave -s <index>  Positive numerical ring position, or 'all' for\n"
fp@1137:     "                      all slaves (default).\n"
fp@1137:     "  --quiet -q          Print only Sdos (without Sdo entries).\n"
fp@1137:     "\n"
fp@1137:     "Numerical values can be specified either with decimal (no prefix),\n"
fp@1137:     "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void listSlaveSdos(uint16_t, bool);
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void command_sdos(void)
fp@1126: {
fp@1126:     masterDev.open(MasterDevice::Read);
fp@1126: 
fp@1126:     if (slavePosition == -1) {
fp@1126:         unsigned int numSlaves = masterDev.slaveCount(), i;
fp@1126: 
fp@1126:         for (i = 0; i < numSlaves; i++) {
fp@1126:             listSlaveSdos(i, true);
fp@1126:         }
fp@1126:     } else {
fp@1126:         listSlaveSdos(slavePosition, false);
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void listSlaveSdos(
fp@1126: 		uint16_t slavePosition,
fp@1126: 		bool withHeader
fp@1126: 		)
fp@1126: {
fp@1126:     ec_ioctl_slave_t slave;
fp@1126:     ec_ioctl_slave_sdo_t sdo;
fp@1126:     ec_ioctl_slave_sdo_entry_t entry;
fp@1126:     unsigned int i, j;
fp@1126:     const CoEDataType *d;
fp@1126:     
fp@1126:     masterDev.getSlave(&slave, slavePosition);
fp@1126: 
fp@1126:     if (withHeader)
fp@1126:         cout << "=== Slave " << slavePosition << " ===" << endl;
fp@1126: 
fp@1126:     for (i = 0; i < slave.sdo_count; i++) {
fp@1126:         masterDev.getSdo(&sdo, slavePosition, i);
fp@1126: 
fp@1126:         cout << "Sdo 0x"
fp@1126:             << hex << setfill('0')
fp@1126:             << setw(4) << sdo.sdo_index
fp@1126:             << ", \"" << sdo.name << "\"" << endl;
fp@1126: 
fp@1126:         if (verbosity == Quiet)
fp@1126:             continue;
fp@1126: 
fp@1126:         for (j = 0; j <= sdo.max_subindex; j++) {
fp@1126:             masterDev.getSdoEntry(&entry, slavePosition, -i, j);
fp@1126: 
fp@1126:             cout << "  0x" << hex << setfill('0')
fp@1126:                 << setw(4) << sdo.sdo_index << ":"
fp@1126:                 << setw(2) << (unsigned int) entry.sdo_entry_subindex
fp@1126:                 << ", ";
fp@1126: 
fp@1126:             if ((d = findDataType(entry.data_type))) {
fp@1126:                 cout << d->name;
fp@1126:             } else {
fp@1126:                 cout << "type " << setw(4) << entry.data_type;
fp@1126:             }
fp@1126: 
fp@1126:             cout << ", " << dec << entry.bit_length << " bit, \""
fp@1126:                 << entry.description << "\"" << endl;
fp@1126:         }
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /*****************************************************************************/