mirror of
https://gitlab.com/etherlab.org/ethercat.git
synced 2026-09-22 18:13:46 +08:00
First step of moving to command list.
This commit is contained in:
Florian Pose
+133
-65
@@ -12,29 +12,93 @@
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#include <vector>
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using namespace std;
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#include "Master.h"
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#include "globals.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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string binaryBaseName;
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unsigned int masterIndex = 0;
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int slavePosition = -1;
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int domainIndex = -1;
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string command;
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vector<string> commandArgs;
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static Master::Verbosity verbosity = Master::Normal;
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Verbosity verbosity = Normal;
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string dataTypeStr;
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bool force = false;
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bool helpRequested = false;
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MasterDevice masterDev;
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/*****************************************************************************/
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struct Command {
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void (*func)(void);
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const char *helpString;
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int execute(void) const;
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void displayHelp(void) const;
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};
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struct CommandAlias {
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const char *name;
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const Command *command;
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};
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/*****************************************************************************/
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#define COMMAND(name) \
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void command_##name(void); \
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extern const char *help_##name; \
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const Command cmd_##name = {command_##name, help_##name};
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COMMAND(alias);
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COMMAND(config);
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const CommandAlias commandAliases[] = {
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{"alias", &cmd_alias},
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{"config", &cmd_config},
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{"conf", &cmd_config},
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{"cf", &cmd_config},
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};
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#if 0
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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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#endif
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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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<< "Usage: " << binaryBaseName << " <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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@@ -52,8 +116,8 @@ void printUsage()
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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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<< " --master -m <master> Index of the master to use. Default: 0"
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<< 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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@@ -67,8 +131,8 @@ void printUsage()
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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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<< "Call '" << binaryBaseName
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<< " <COMMAND> --help' for command-specific help." << endl
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<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
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}
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@@ -146,11 +210,11 @@ void getOptions(int argc, char **argv)
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break;
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case 'q':
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verbosity = Master::Quiet;
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verbosity = Quiet;
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break;
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case 'v':
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verbosity = Master::Verbose;
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verbosity = Verbose;
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break;
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case 'h':
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@@ -184,60 +248,64 @@ void getOptions(int argc, char **argv)
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/****************************************************************************/
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int main(int argc, char **argv)
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int Command::execute() const
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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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func();
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} catch (InvalidUsageException &e) {
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cerr << e.what() << endl << endl;
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displayHelp();
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return 1;
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} catch (ExecutionFailureException &e) {
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cerr << e.what() << endl;
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exit(1);
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return 1;
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} catch (MasterDeviceException &e) {
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cerr << e.what() << endl;
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return 1;
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}
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return 0;
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return 0;
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}
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/****************************************************************************/
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void Command::displayHelp() const
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{
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cerr << binaryBaseName << " " << command << " " << helpString;
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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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int retval = 0;
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const CommandAlias *alias;
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const CommandAlias *endAlias =
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commandAliases + sizeof(commandAliases) / sizeof(CommandAlias);
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binaryBaseName = basename(argv[0]);
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getOptions(argc, argv);
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// search command alias in alias map
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for (alias = commandAliases; alias < endAlias; alias++) {
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if (command == alias->name)
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break;
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}
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if (alias < endAlias) { // command alias found
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if (!helpRequested) {
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masterDev.setIndex(masterIndex);
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retval = alias->command->execute();
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} else {
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alias->command->displayHelp();
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}
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} else { // command not found
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cerr << "Unknown command " << command << "!" << endl << endl;
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printUsage();
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retval = 1;
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}
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return retval;
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}
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/****************************************************************************/
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