# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1214557084 0
# Node ID d1d2aa556344d86ad521e7bb3c4622e8f39fd5b5
# Parent  5f27403587a8314d4e9ac42b89610db37e033582
United 'ethercat slaves' and 'ethercat list' with a verbose flag.

diff -r 5f27403587a8 -r d1d2aa556344 tools/Master.cpp
--- a/tools/Master.cpp	Fri Jun 27 07:22:02 2008 +0000
+++ b/tools/Master.cpp	Fri Jun 27 08:58:04 2008 +0000
@@ -334,97 +334,6 @@
 
 /****************************************************************************/
 
-struct SlaveInfo {
-    string pos;
-    string alias;
-    string relPos;
-    string state;
-    string flag;
-    string name;
-};
-
-void Master::listSlaves()
-{
-    unsigned int numSlaves, i;
-    ec_ioctl_slave_t slave;
-    uint16_t lastAlias, aliasIndex;
-    SlaveInfo slaveInfo;
-    typedef list<SlaveInfo> SlaveInfoList;
-    SlaveInfoList slaveInfoList;
-    SlaveInfoList::const_iterator iter;
-    stringstream str;
-    unsigned int maxPosWidth = 0, maxAliasWidth = 0,
-                 maxRelPosWidth = 0, maxStateWidth = 0;
-    
-    open(Read);
-
-    numSlaves = slaveCount();
-
-    lastAlias = 0;
-    aliasIndex = 0;
-    for (i = 0; i < numSlaves; i++) {
-        getSlave(&slave, i);
-        
-        str << dec << i;
-        slaveInfo.pos = str.str();
-        str.clear();
-        str.str("");
-
-        if (slave.alias) {
-            lastAlias = slave.alias;
-            aliasIndex = 0;
-        }
-        if (lastAlias) {
-            str << "#" << hex << lastAlias;
-            slaveInfo.alias = str.str();
-            str.str("");
-            str << ":" << dec << aliasIndex;
-            slaveInfo.relPos = str.str();
-            str.str("");
-            aliasIndex++;
-        } else {
-            slaveInfo.alias = "";
-            slaveInfo.relPos = "";
-        }
-
-        slaveInfo.state = slaveState(slave.state);
-        slaveInfo.flag = (slave.error_flag ? 'E' : '+');
-
-        if (strlen(slave.name)) {
-            slaveInfo.name = slave.name;
-        } else {
-            str << hex << setfill('0')
-                << setw(8) << slave.vendor_id << ":"
-                << setw(8) << slave.product_code;
-            slaveInfo.name = str.str();
-            str.str("");
-        }
-
-        slaveInfoList.push_back(slaveInfo);
-        if (slaveInfo.pos.length() > maxPosWidth)
-            maxPosWidth = slaveInfo.pos.length();
-        if (slaveInfo.alias.length() > maxAliasWidth)
-            maxAliasWidth = slaveInfo.alias.length();
-        if (slaveInfo.relPos.length() > maxRelPosWidth)
-            maxRelPosWidth = slaveInfo.relPos.length();
-        if (slaveInfo.state.length() > maxStateWidth)
-            maxStateWidth = slaveInfo.state.length();
-    }
-
-    for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
-        cout << setfill(' ') << right
-            << setw(maxPosWidth) << iter->pos << "  "
-            << setw(maxAliasWidth) << iter->alias
-            << left
-            << setw(maxRelPosWidth) << iter->relPos << "  "
-            << setw(maxStateWidth) << iter->state << "  "
-            << iter->flag << "  "
-            << iter->name << endl;
-    }
-}
-
-/****************************************************************************/
-
 void Master::showMaster()
 {
     ec_ioctl_master_t data;
@@ -821,18 +730,22 @@
 
 /****************************************************************************/
 
-void Master::showSlaves(int slavePosition)
+void Master::showSlaves(int slavePosition, bool verbose)
 {
     open(Read);
 
-    if (slavePosition == -1) {
-        unsigned int numSlaves = slaveCount(), i;
-
-        for (i = 0; i < numSlaves; i++) {
-            showSlave(i);
+    if (verbose) {
+        if (slavePosition == -1) {
+            unsigned int numSlaves = slaveCount(), i;
+
+            for (i = 0; i < numSlaves; i++) {
+                showSlave(i);
+            }
+        } else {
+            showSlave(slavePosition);
         }
     } else {
-        showSlave(slavePosition);
+        listSlaves(slavePosition);
     }
 }
 
@@ -1325,6 +1238,104 @@
 
 /****************************************************************************/
 
+struct SlaveInfo {
+    string pos;
+    string alias;
+    string relPos;
+    string state;
+    string flag;
+    string name;
+};
+
+void Master::listSlaves(int slavePosition)
+{
+    unsigned int numSlaves, i;
+    ec_ioctl_slave_t slave;
+    uint16_t lastAlias, aliasIndex;
+    SlaveInfo slaveInfo;
+    typedef list<SlaveInfo> SlaveInfoList;
+    SlaveInfoList slaveInfoList;
+    SlaveInfoList::const_iterator iter;
+    stringstream str;
+    unsigned int maxPosWidth = 0, maxAliasWidth = 0,
+                 maxRelPosWidth = 0, maxStateWidth = 0;
+    
+    open(Read);
+
+    numSlaves = slaveCount();
+
+    lastAlias = 0;
+    aliasIndex = 0;
+    for (i = 0; i < numSlaves; i++) {
+        getSlave(&slave, i);
+        
+        if (slave.alias) {
+            lastAlias = slave.alias;
+            aliasIndex = 0;
+        }
+
+        if (slavePosition == -1 || i == slavePosition) {
+            str << dec << i;
+            slaveInfo.pos = str.str();
+            str.clear();
+            str.str("");
+
+            if (lastAlias) {
+                str << "#" << hex << lastAlias;
+                slaveInfo.alias = str.str();
+                str.str("");
+                str << ":" << dec << aliasIndex;
+                slaveInfo.relPos = str.str();
+                str.str("");
+            } else {
+                slaveInfo.alias = "";
+                slaveInfo.relPos = "";
+            }
+
+            slaveInfo.state = slaveState(slave.state);
+            slaveInfo.flag = (slave.error_flag ? 'E' : '+');
+
+            if (strlen(slave.name)) {
+                slaveInfo.name = slave.name;
+            } else {
+                str << hex << setfill('0')
+                    << setw(8) << slave.vendor_id << ":"
+                    << setw(8) << slave.product_code;
+                slaveInfo.name = str.str();
+                str.str("");
+            }
+
+
+            slaveInfoList.push_back(slaveInfo);
+
+            if (slaveInfo.pos.length() > maxPosWidth)
+                maxPosWidth = slaveInfo.pos.length();
+            if (slaveInfo.alias.length() > maxAliasWidth)
+                maxAliasWidth = slaveInfo.alias.length();
+            if (slaveInfo.relPos.length() > maxRelPosWidth)
+                maxRelPosWidth = slaveInfo.relPos.length();
+            if (slaveInfo.state.length() > maxStateWidth)
+                maxStateWidth = slaveInfo.state.length();
+        }
+
+        if (lastAlias)
+            aliasIndex++;
+    }
+
+    for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
+        cout << setfill(' ') << right
+            << setw(maxPosWidth) << iter->pos << "  "
+            << setw(maxAliasWidth) << iter->alias
+            << left
+            << setw(maxRelPosWidth) << iter->relPos << "  "
+            << setw(maxStateWidth) << iter->state << "  "
+            << iter->flag << "  "
+            << iter->name << endl;
+    }
+}
+
+/****************************************************************************/
+
 void Master::showSlave(uint16_t slavePosition)
 {
     ec_ioctl_slave_t slave;
diff -r 5f27403587a8 -r d1d2aa556344 tools/Master.h
--- a/tools/Master.h	Fri Jun 27 07:22:02 2008 +0000
+++ b/tools/Master.h	Fri Jun 27 08:58:04 2008 +0000
@@ -47,13 +47,12 @@
         void outputData(int);
         void setDebug(const vector<string> &);
         void showDomains(int);
-        void listSlaves();
         void showMaster();
         void listPdos(int, bool = false);
         void listSdos(int, bool = false);
         void sdoDownload(int, const string &, const vector<string> &);
         void sdoUpload(int, const string &, const vector<string> &);
-        void showSlaves(int);
+        void showSlaves(int, bool);
         void siiRead(int);
         void siiWrite(int, bool, const vector<string> &);
         void requestStates(int, const vector<string> &);
@@ -69,6 +68,7 @@
         void showDomain(unsigned int);
         void listSlavePdos(uint16_t, bool = false, bool = false);
         void listSlaveSdos(uint16_t, bool = false, bool = false);
+        void listSlaves(int);
         void showSlave(uint16_t);
         void generateSlaveXml(uint16_t);
         unsigned int slaveCount();
diff -r 5f27403587a8 -r d1d2aa556344 tools/main.cpp
--- a/tools/main.cpp	Fri Jun 27 07:22:02 2008 +0000
+++ b/tools/main.cpp	Fri Jun 27 08:58:04 2008 +0000
@@ -23,6 +23,7 @@
 static string command;
 vector<string> commandArgs;
 static bool quiet = false;
+static bool verbose = false;
 string dataTypeStr;
 bool force = false;
 
@@ -33,22 +34,21 @@
     cerr
         << "Usage: ethercat <COMMAND> [OPTIONS]" << endl
 		<< "Commands:" << endl
-        << "  alias              Write alias address(es)." << endl
-        << "  config             Show slave configurations." << endl
-        << "  data               Output binary domain process data." << endl
-        << "  debug              Set the master debug level." << endl
-        << "  domain             Show domain information." << endl
-        << "  list (ls)          List all slaves (former 'lsec')." << endl
-        << "  master             Show master information." << endl
-        << "  pdos               List Pdo mapping." << endl
-        << "  sdos               List Sdo dictionaries." << endl
-        << "  sdo_download (sd)  Write an Sdo entry." << endl
-        << "  sdo_upload (su)    Read an Sdo entry." << endl
-        << "  slave              Show slave information." << endl
-        << "  sii_read (sr)      Output a slave's SII contents." << endl
-        << "  sii_write (sw)     Write slave's SII contents." << endl
-        << "  state              Request slave states." << endl
-        << "  xml                Generate slave information xmls." << endl
+        << "  alias         Write alias addresses." << endl
+        << "  config        Show bus configuration." << endl
+        << "  data          Output binary domain process data." << endl
+        << "  debug         Set the master's debug level." << endl
+        << "  domain        Show domain information." << endl
+        << "  master        Show master information." << endl
+        << "  pdos          List Pdo assignment/mapping." << endl
+        << "  sdo_download  Write an Sdo entry." << endl
+        << "  sdos          List Sdo dictionaries." << endl
+        << "  sdo_upload    Read an Sdo entry." << endl
+        << "  sii_read      Output a slave's SII contents." << endl
+        << "  sii_write     Write slave's SII contents." << endl
+        << "  slaves        Show slaves." << endl
+        << "  state         Request slave states." << endl
+        << "  xml           Generate slave information xmls." << endl
 		<< "Global options:" << endl
         << "  --master  -m <master>  Index of the master to use. Default: "
 		<< DEFAULT_MASTER << endl
@@ -62,7 +62,8 @@
         << endl
         << "  --type    -t <type>    Forced Sdo data type." << endl
         << "  --force   -f           Force action." << endl
-        << "  --quiet   -q           Show less output." << endl
+        << "  --quiet   -q           Output less information." << endl
+        << "  --verbose -v           Output more information." << endl
         << "  --help    -h           Show this help." << endl;
 }
 
@@ -74,19 +75,20 @@
 	char *remainder;
 
     static struct option longOptions[] = {
-        //name,    has_arg,           flag, val
-        {"master", required_argument, NULL, 'm'},
-        {"slave",  required_argument, NULL, 's'},
-        {"domain", required_argument, NULL, 'd'},
-        {"type",   required_argument, NULL, 't'},
-        {"force",  no_argument,       NULL, 'f'},
-        {"quiet",  no_argument,       NULL, 'q'},
-        {"help",   no_argument,       NULL, 'h'},
+        //name,     has_arg,           flag, val
+        {"master",  required_argument, NULL, 'm'},
+        {"slave",   required_argument, NULL, 's'},
+        {"domain",  required_argument, NULL, 'd'},
+        {"type",    required_argument, NULL, 't'},
+        {"force",   no_argument,       NULL, 'f'},
+        {"quiet",   no_argument,       NULL, 'q'},
+        {"verbose", no_argument,       NULL, 'v'},
+        {"help",    no_argument,       NULL, 'h'},
         {}
     };
 
     do {
-        c = getopt_long(argc, argv, "m:s:d:t:fqh", longOptions, &optionIndex);
+        c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
 
         switch (c) {
             case 'm':
@@ -140,6 +142,12 @@
 
             case 'q':
                 quiet = true;
+                verbose = false;
+                break;
+
+            case 'v':
+                verbose = true;
+                quiet = false;
                 break;
 
             case 'h':
@@ -187,8 +195,6 @@
             master.setDebug(commandArgs);
         } else if (command == "domain") {
             master.showDomains(domainIndex);
-		} else if (command == "list" || command == "ls") {
-            master.listSlaves();
 		} else if (command == "master") {
             master.showMaster();
         } else if (command == "pdos") {
@@ -199,8 +205,9 @@
             master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
         } else if (command == "sdo_upload" || command == "su") {
             master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
-		} else if (command == "slave") {
-            master.showSlaves(slavePosition);
+		} else if (command == "slave" || command == "slaves"
+                || command == "list" || command == "ls") {
+            master.showSlaves(slavePosition, verbose);
         } else if (command == "sii_read" || command == "sr") {
             master.siiRead(slavePosition);
         } else if (command == "sii_write" || command == "sw") {