mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-09-22 18:13:46 +08:00
Added configuration listing command.
This commit is contained in:
Florian Pose
+180
-83
@@ -173,91 +173,14 @@ void Master::writeAlias(
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/*****************************************************************************/
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/**
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* Lists the bus configuration.
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/** Lists the bus configuration.
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*/
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void Master::showConfig()
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void Master::showConfigs(bool verbose)
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{
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ec_ioctl_master_t master;
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unsigned int i, j, k, l;
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ec_ioctl_config_t config;
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ec_ioctl_config_pdo_t pdo;
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ec_ioctl_config_pdo_entry_t entry;
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ec_ioctl_config_sdo_t sdo;
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open(Read);
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getMaster(&master);
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for (i = 0; i < master.config_count; i++) {
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getConfig(&config, i);
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cout << "Alias: 0x"
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<< hex << setfill('0') << setw(4) << config.alias << endl
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<< "Position: " << dec << config.position << endl
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<< "Vendor Id: 0x"
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<< hex << setw(8) << config.vendor_id << endl
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<< "Product code: 0x"
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<< hex << setw(8) << config.product_code << endl
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<< "Attached: " << (config.attached ? "yes" : "no") << endl
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<< "Operational: " << (config.operational ? "yes" : "no") << endl;
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for (j = 0; j < 16; j++) {
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if (config.syncs[j].pdo_count) {
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cout << "SM" << dec << j << " ("
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<< (config.syncs[j].dir == EC_DIR_INPUT
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? "Input" : "Output") << ")" << endl;
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for (k = 0; k < config.syncs[j].pdo_count; k++) {
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getConfigPdo(&pdo, i, j, k);
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cout << " Pdo 0x"
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<< hex << setfill('0') << setw(4) << pdo.index
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<< " \"" << pdo.name << "\"" << endl;
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for (l = 0; l < pdo.entry_count; l++) {
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getConfigPdoEntry(&entry, i, j, k, l);
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cout << " Pdo entry 0x"
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<< hex << setfill('0') << setw(4) << entry.index
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<< ":" << setw(2) << (unsigned int) entry.subindex
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<< ", " << dec << (unsigned int) entry.bit_length
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<< " bit, \"" << entry.name << "\"" << endl;
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}
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}
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}
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}
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if (config.sdo_count) {
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cout << "Sdo configuration:" << endl;
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for (j = 0; j < config.sdo_count; j++) {
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getConfigSdo(&sdo, i, j);
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cout << " 0x"
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<< hex << setfill('0') << setw(4) << sdo.index
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<< ":" << setw(2) << (unsigned int) sdo.subindex
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<< ", " << sdo.size << " byte: " << hex;
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switch (sdo.size) {
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case 1:
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cout << "0x" << setw(2)
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<< (unsigned int) *(uint8_t *) &sdo.data;
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break;
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case 2:
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cout << "0x" << setw(4)
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<< le16tocpu(*(uint16_t *) &sdo.data);
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break;
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case 4:
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cout << "0x" << setw(8)
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<< le32tocpu(*(uint32_t *) &sdo.data);
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break;
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default:
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cout << "???";
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}
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cout << endl;
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}
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}
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cout << endl;
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if (verbose) {
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showConfigs();
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} else {
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listConfigs();
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}
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}
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@@ -1036,6 +959,180 @@ void Master::writeSlaveAlias(
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delete [] data.words;
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}
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/*****************************************************************************/
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/** Lists the complete bus configuration.
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*/
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void Master::showConfigs()
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{
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ec_ioctl_master_t master;
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unsigned int i, j, k, l;
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ec_ioctl_config_t config;
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ec_ioctl_config_pdo_t pdo;
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ec_ioctl_config_pdo_entry_t entry;
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ec_ioctl_config_sdo_t sdo;
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open(Read);
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getMaster(&master);
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for (i = 0; i < master.config_count; i++) {
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getConfig(&config, i);
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cout << "Alias: 0x"
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<< hex << setfill('0') << setw(4) << config.alias << endl
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<< "Position: " << dec << config.position << endl
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<< "Vendor Id: 0x"
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<< hex << setw(8) << config.vendor_id << endl
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<< "Product code: 0x"
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<< hex << setw(8) << config.product_code << endl
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<< "Attached: " << (config.attached ? "yes" : "no") << endl
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<< "Operational: " << (config.operational ? "yes" : "no") << endl;
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for (j = 0; j < 16; j++) {
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if (config.syncs[j].pdo_count) {
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cout << "SM" << dec << j << " ("
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<< (config.syncs[j].dir == EC_DIR_INPUT
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? "Input" : "Output") << ")" << endl;
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for (k = 0; k < config.syncs[j].pdo_count; k++) {
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getConfigPdo(&pdo, i, j, k);
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cout << " Pdo 0x"
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<< hex << setfill('0') << setw(4) << pdo.index
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<< " \"" << pdo.name << "\"" << endl;
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for (l = 0; l < pdo.entry_count; l++) {
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getConfigPdoEntry(&entry, i, j, k, l);
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cout << " Pdo entry 0x"
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<< hex << setfill('0') << setw(4) << entry.index
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<< ":" << setw(2) << (unsigned int) entry.subindex
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<< ", " << dec << (unsigned int) entry.bit_length
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<< " bit, \"" << entry.name << "\"" << endl;
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}
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}
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}
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}
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if (config.sdo_count) {
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cout << "Sdo configuration:" << endl;
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for (j = 0; j < config.sdo_count; j++) {
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getConfigSdo(&sdo, i, j);
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cout << " 0x"
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<< hex << setfill('0') << setw(4) << sdo.index
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<< ":" << setw(2) << (unsigned int) sdo.subindex
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<< ", " << sdo.size << " byte: " << hex;
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switch (sdo.size) {
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case 1:
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cout << "0x" << setw(2)
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<< (unsigned int) *(uint8_t *) &sdo.data;
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break;
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case 2:
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cout << "0x" << setw(4)
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<< le16tocpu(*(uint16_t *) &sdo.data);
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break;
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case 4:
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cout << "0x" << setw(8)
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<< le32tocpu(*(uint32_t *) &sdo.data);
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break;
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default:
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cout << "???";
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}
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cout << endl;
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}
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}
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cout << endl;
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}
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}
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/*****************************************************************************/
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struct ConfigInfo {
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string alias;
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string pos;
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string ident;
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string att;
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string op;
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};
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/** Lists the bus configuration.
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*/
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void Master::listConfigs()
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{
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ec_ioctl_master_t master;
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unsigned int i;
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ec_ioctl_config_t config;
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stringstream str;
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ConfigInfo info;
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typedef list<ConfigInfo> ConfigInfoList;
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ConfigInfoList list;
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ConfigInfoList::const_iterator iter;
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unsigned int maxAliasWidth = 0, maxPosWidth = 0,
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maxAttWidth = 0, maxOpWidth = 0;
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open(Read);
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getMaster(&master);
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for (i = 0; i < master.config_count; i++) {
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getConfig(&config, i);
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str << dec << config.alias;
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info.alias = str.str();
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str.clear();
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str.str("");
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str << dec << config.position;
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info.pos = str.str();
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str.clear();
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str.str("");
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str << "0x"
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<< hex << setfill('0') << setw(8) << config.vendor_id
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<< "/0x"
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<< hex << setw(8) << config.product_code;
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info.ident = str.str();
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str.clear();
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str.str("");
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str << (config.attached ? "attached" : "-");
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info.att = str.str();
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str.clear();
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str.str("");
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str << (config.operational ? "operational" : "-");
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info.op = str.str();
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str.clear();
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str.str("");
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list.push_back(info);
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if (info.alias.length() > maxAliasWidth)
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maxAliasWidth = info.alias.length();
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if (info.pos.length() > maxPosWidth)
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maxPosWidth = info.pos.length();
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if (info.att.length() > maxAttWidth)
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maxAttWidth = info.att.length();
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if (info.op.length() > maxOpWidth)
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maxOpWidth = info.op.length();
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}
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for (iter = list.begin(); iter != list.end(); iter++) {
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cout << setfill(' ') << right
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<< setw(maxAliasWidth) << iter->alias
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<< ":" << left
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<< setw(maxPosWidth) << iter->pos
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<< " "
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<< iter->ident
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<< " "
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<< setw(maxAttWidth) << iter->att << " "
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<< setw(maxOpWidth) << iter->op << " "
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<< endl;
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}
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}
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/****************************************************************************/
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void Master::outputDomainData(unsigned int domainIndex)
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