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https://gitlab.com/etherlab.org/ethercat.git
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318 lines
8.6 KiB
C++
318 lines
8.6 KiB
C++
/*****************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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****************************************************************************/
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#include "Command.h"
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/*****************************************************************************/
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Command::Command(const string &name, const string &briefDesc):
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name(name),
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briefDesc(briefDesc),
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verbosity(Normal)
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{
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}
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/*****************************************************************************/
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Command::~Command()
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{
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}
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/*****************************************************************************/
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void Command::setVerbosity(Verbosity v)
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{
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verbosity = v;
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};
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/*****************************************************************************/
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void Command::setAlias(int a)
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{
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alias = a;
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};
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/*****************************************************************************/
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void Command::setPosition(int p)
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{
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position = p;
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};
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/*****************************************************************************/
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void Command::setDomain(int d)
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{
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domain = d;
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};
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/*****************************************************************************/
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void Command::setDataType(const string &t)
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{
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dataType = t;
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};
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/*****************************************************************************/
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void Command::setForce(bool f)
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{
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force = f;
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};
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/*****************************************************************************/
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void Command::setOutputFile(const string &f)
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{
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outputFile = f;
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};
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/****************************************************************************/
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bool Command::matchesSubstr(const string &cmd) const
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{
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return name.substr(0, cmd.length()) == cmd;
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}
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/****************************************************************************/
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bool Command::matchesAbbrev(const string &abb) const
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{
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unsigned int i;
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size_t pos = 0;
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for (i = 0; i < abb.length(); i++) {
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pos = name.find(abb[i], pos);
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if (pos == string::npos)
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return false;
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}
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return true;
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}
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/*****************************************************************************/
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string Command::numericInfo()
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{
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stringstream str;
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str << "Numerical values can be specified either with decimal (no" << endl
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<< "prefix), octal (prefix '0') or hexadecimal (prefix '0x') base."
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<< endl;
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return str.str();
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}
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/*****************************************************************************/
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void Command::throwInvalidUsageException(const stringstream &s) const
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{
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throw InvalidUsageException(s);
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}
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/*****************************************************************************/
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void Command::throwCommandException(const stringstream &s) const
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{
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throw CommandException(s);
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}
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/*****************************************************************************/
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void Command::throwSingleSlaveRequired(unsigned int size) const
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{
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stringstream err;
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err << "The slave selection matches " << size << " slaves. '"
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<< name << "' requires a single slave.";
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throwInvalidUsageException(err);
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}
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/*****************************************************************************/
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Command::SlaveList Command::selectedSlaves(MasterDevice &m)
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{
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ec_ioctl_master_t master;
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unsigned int i, aliasIndex;
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uint16_t lastAlias;
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ec_ioctl_slave_t slave;
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SlaveList list;
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m.getMaster(&master);
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if (alias == -1) { // no alias given
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if (position == -1) { // no alias and position given
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// all items
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for (i = 0; i < master.slave_count; i++) {
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m.getSlave(&slave, i);
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list.push_back(slave);
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}
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} else { // no alias, but position given
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// one item by position
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m.getSlave(&slave, position);
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list.push_back(slave);
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}
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} else { // alias given
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if (position == -1) { // alias, but no position given
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// take all items with a given alias
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lastAlias = 0;
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for (i = 0; i < master.slave_count; i++) {
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m.getSlave(&slave, i);
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if (slave.alias) {
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lastAlias = slave.alias;
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}
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if (lastAlias == (uint16_t) alias) {
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list.push_back(slave);
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}
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}
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} else { // alias and position given
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lastAlias = 0;
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aliasIndex = 0;
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for (i = 0; i < master.slave_count; i++) {
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m.getSlave(&slave, i);
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if (slave.alias && slave.alias == (uint16_t) alias) {
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lastAlias = slave.alias;
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aliasIndex = 0;
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}
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if (lastAlias && aliasIndex == (unsigned int) position) {
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list.push_back(slave);
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}
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aliasIndex++;
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}
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}
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}
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return list;
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}
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/*****************************************************************************/
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bool operator<(
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const ec_ioctl_config_t &a,
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const ec_ioctl_config_t &b
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)
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{
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return a.alias < b.alias
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|| (a.alias == b.alias && a.position < b.position);
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}
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/*****************************************************************************/
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Command::ConfigList Command::selectedConfigs(MasterDevice &m)
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{
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unsigned int i;
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ec_ioctl_master_t master;
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ec_ioctl_config_t config;
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ConfigList list;
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stringstream err;
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m.getMaster(&master);
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if (alias == -1) { // no alias given
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if (position == -1) { // no alias and position given
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// all items
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for (i = 0; i < master.config_count; i++) {
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m.getConfig(&config, i);
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list.push_back(config);
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}
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} else { // no alias, but position given
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for (i = 0; i < master.config_count; i++) {
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m.getConfig(&config, i);
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if (!config.alias && config.position == position) {
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list.push_back(config);
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break; // there can be at most one matching
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}
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}
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}
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} else { // alias given
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if (position == -1) { // alias, but no position given
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// take all items with a given alias
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for (i = 0; i < master.config_count; i++) {
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m.getConfig(&config, i);
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if (config.alias == alias) {
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list.push_back(config);
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}
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}
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} else { // alias and position given
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for (i = 0; i < master.config_count; i++) {
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m.getConfig(&config, i);
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if (config.alias == alias && config.position == position) {
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list.push_back(config);
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break; // there can be at most one matching
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}
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}
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}
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}
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list.sort();
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return list;
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}
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/****************************************************************************/
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Command::DomainList Command::selectedDomains(MasterDevice &m)
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{
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ec_ioctl_domain_t d;
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DomainList list;
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if (domain == -1) {
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ec_ioctl_master_t master;
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unsigned int i;
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m.getMaster(&master);
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for (i = 0; i < master.domain_count; i++) {
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m.getDomain(&d, i);
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list.push_back(d);
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}
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} else {
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m.getDomain(&d, domain);
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list.push_back(d);
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}
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return list;
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}
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/****************************************************************************/
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string Command::alStateString(uint8_t state)
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{
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switch (state) {
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case 1: return "INIT";
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case 2: return "PREOP";
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case 3: return "BOOT";
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case 4: return "SAFEOP";
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case 8: return "OP";
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default: return "???";
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}
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}
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/****************************************************************************/
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