mirror of
https://gitlab.com/etherlab.org/ethercat.git
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Moved tools to tool.
This commit is contained in:
Florian Pose
+243
@@ -0,0 +1,243 @@
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/*****************************************************************************
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*
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* $Id$
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*
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****************************************************************************/
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#include <getopt.h>
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#include <libgen.h> // basename()
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#include <iostream>
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#include <string>
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#include <vector>
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using namespace std;
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#include "Master.h"
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/*****************************************************************************/
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#define DEFAULT_MASTER 0
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static string cmdName;
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static unsigned int masterIndex = DEFAULT_MASTER;
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static int slavePosition = -1;
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static int domainIndex = -1;
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static string command;
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vector<string> commandArgs;
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static Master::Verbosity verbosity = Master::Normal;
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string dataTypeStr;
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bool force = false;
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bool helpWanted = false;
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/*****************************************************************************/
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void printUsage()
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{
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cerr
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<< "Usage: " << cmdName << " <COMMAND> [OPTIONS]" << endl
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<< "Commands:" << endl
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<< " alias Write alias addresses." << endl
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<< " config Show bus configuration." << endl
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<< " data Output binary domain process data." << endl
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<< " debug Set the master's debug level." << endl
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<< " domain Show domain information." << endl
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<< " master Show master information." << endl
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<< " pdos List Pdo assignment/mapping." << endl
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<< " sdo_download Write an Sdo entry." << endl
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<< " sdos List Sdo dictionaries." << endl
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<< " sdo_upload Read an Sdo entry." << endl
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<< " sii_read Output a slave's SII contents." << endl
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<< " sii_write Write slave's SII contents." << endl
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<< " slaves Show slaves." << endl
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<< " state Request slave states." << endl
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<< " xml Generate slave information xmls." << endl
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<< "Global options:" << endl
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<< " --master -m <master> Index of the master to use. Default: "
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<< DEFAULT_MASTER << endl
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<< " --slave -s <index> Positive numerical ring position,"
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<< endl
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<< " or 'all' for all slaves (default)."
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<< endl
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<< " --domain -d <index> Positive numerical index,"
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<< endl
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<< " or 'all' for all domains (default)."
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<< endl
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<< " --type -t <type> Forced Sdo data type." << endl
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<< " --force -f Force action." << endl
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<< " --quiet -q Output less information." << endl
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<< " --verbose -v Output more information." << endl
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<< " --help -h Show this help." << endl
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<< "Call '" << cmdName << " <COMMAND> --help' for command-specific "
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<< "help." << endl
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<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
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}
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/*****************************************************************************/
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void getOptions(int argc, char **argv)
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{
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int c, argCount, optionIndex, number;
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char *remainder;
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static struct option longOptions[] = {
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//name, has_arg, flag, val
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{"master", required_argument, NULL, 'm'},
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{"slave", required_argument, NULL, 's'},
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{"domain", required_argument, NULL, 'd'},
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{"type", required_argument, NULL, 't'},
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{"force", no_argument, NULL, 'f'},
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{"quiet", no_argument, NULL, 'q'},
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{"verbose", no_argument, NULL, 'v'},
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{"help", no_argument, NULL, 'h'},
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{}
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};
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do {
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c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
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switch (c) {
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case 'm':
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number = strtoul(optarg, &remainder, 0);
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if (remainder == optarg || *remainder || number < 0) {
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cerr << "Invalid master number " << optarg << "!" << endl;
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printUsage();
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exit(1);
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}
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masterIndex = number;
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break;
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case 's':
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if (!strcmp(optarg, "all")) {
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slavePosition = -1;
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} else {
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number = strtoul(optarg, &remainder, 0);
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if (remainder == optarg || *remainder
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|| number < 0 || number > 0xFFFF) {
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cerr << "Invalid slave position "
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<< optarg << "!" << endl;
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printUsage();
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exit(1);
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}
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slavePosition = number;
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}
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break;
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case 'd':
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if (!strcmp(optarg, "all")) {
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domainIndex = -1;
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} else {
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number = strtoul(optarg, &remainder, 0);
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if (remainder == optarg || *remainder || number < 0) {
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cerr << "Invalid domain index "
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<< optarg << "!" << endl;
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printUsage();
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exit(1);
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}
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domainIndex = number;
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}
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break;
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case 't':
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dataTypeStr = optarg;
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break;
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case 'f':
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force = true;
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break;
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case 'q':
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verbosity = Master::Quiet;
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break;
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case 'v':
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verbosity = Master::Verbose;
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break;
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case 'h':
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helpWanted = true;
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break;
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case '?':
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printUsage();
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exit(1);
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default:
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break;
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}
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}
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while (c != -1);
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argCount = argc - optind;
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if (!argCount) {
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if (!helpWanted) {
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cerr << "Please specify a command!" << endl;
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}
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printUsage();
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exit(!helpWanted);
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}
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command = argv[optind];
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while (++optind < argc)
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commandArgs.push_back(string(argv[optind]));
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}
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/****************************************************************************/
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int main(int argc, char **argv)
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{
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Master master;
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cmdName = basename(argv[0]);
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getOptions(argc, argv);
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master.setIndex(masterIndex);
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master.setVerbosity(verbosity);
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try {
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if (command == "alias") {
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master.writeAlias(slavePosition, force, commandArgs);
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} else if (command == "config") {
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master.showConfigs();
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} else if (command == "data") {
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master.outputData(domainIndex);
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} else if (command == "debug") {
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master.setDebug(commandArgs);
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} else if (command == "domain") {
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master.showDomains(domainIndex);
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} else if (command == "master") {
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master.showMaster();
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} else if (command == "pdos") {
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master.listPdos(slavePosition);
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} else if (command == "sdos") {
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master.listSdos(slavePosition);
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} else if (command == "sdo_download" || command == "sd") {
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master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
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} else if (command == "sdo_upload" || command == "su") {
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master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
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} else if (command == "slave" || command == "slaves"
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|| command == "list" || command == "ls") {
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master.showSlaves(slavePosition);
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} else if (command == "sii_read" || command == "sr") {
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master.siiRead(slavePosition);
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} else if (command == "sii_write" || command == "sw") {
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master.siiWrite(slavePosition, force, commandArgs);
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} else if (command == "state") {
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master.requestStates(slavePosition, commandArgs);
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} else if (command == "xml") {
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master.generateXml(slavePosition);
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} else {
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cerr << "Unknown command " << command << "!" << endl;
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printUsage();
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exit(1);
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}
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} catch (MasterException &e) {
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cerr << e.what() << endl;
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exit(1);
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}
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return 0;
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}
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/****************************************************************************/
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