mirror of
https://gitlab.com/etherlab.org/ethercat.git
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470 lines
17 KiB
C++
470 lines
17 KiB
C++
/*****************************************************************************
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*
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* Copyright (C) 2006-2024 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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* vim: expandtab
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*
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****************************************************************************/
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#include <list>
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#include <iostream>
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#include <iomanip>
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#include <sstream>
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using namespace std;
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#include "CommandConfig.h"
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#include "MasterDevice.h"
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/****************************************************************************/
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CommandConfig::CommandConfig():
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Command("config", "Show slave configurations.")
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{
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}
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/****************************************************************************/
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string CommandConfig::helpString(const string &binaryBaseName) const
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{
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stringstream str;
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str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "Without the --verbose option, slave configurations are" << endl
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<< "output one-per-line. Example:" << endl
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<< endl
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<< "1001:0 0x0000003b/0x02010000 3 OP" << endl
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<< "| | | |" << endl
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<< "| | | \\- Application-layer" << endl
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<< "| | | state of the attached" << endl
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<< "| | | slave, or '-', if no" << endl
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<< "| | | slave is attached." << endl
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<< "| | \\- Absolute decimal ring" << endl
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<< "| | position of the attached" << endl
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<< "| | slave, or '-' if none" << endl
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<< "| | attached." << endl
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<< "| \\- Expected vendor ID and product code (both" << endl
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<< "| hexadecimal)." << endl
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<< "\\- Alias address and relative position (both decimal)." << endl
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<< endl
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<< "With the --verbose option given, the configured PDOs and" << endl
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<< "SDOs are output in addition." << endl
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<< endl
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<< "Configuration selection:" << endl
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<< " Slave configurations can be selected with" << endl
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<< " the --alias and --position parameters as follows:" << endl
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<< endl
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<< " 1) If neither the --alias nor the --position option" << endl
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<< " is given, all slave configurations are displayed." << endl
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<< " 2) If only the --position option is given, an alias" << endl
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<< " of zero is assumed (see 4))." << endl
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<< " 3) If only the --alias option is given, all slave" << endl
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<< " configurations with the given alias address" << endl
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<< " are displayed." << endl
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<< " 4) If both the --alias and the --position option are" << endl
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<< " given, the selection can match a single" << endl
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<< " configuration, that is displayed, if it exists." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --alias -a <alias> Configuration alias (see above)." << endl
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<< " --position -p <pos> Relative position (see above)." << endl
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<< " --verbose -v Show detailed configurations." << endl
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<< endl
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<< numericInfo();
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return str.str();
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}
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/****************************************************************************/
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/** Lists the bus configuration.
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*/
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void CommandConfig::execute(const StringVector &args)
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{
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MasterIndexList masterIndices;
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bool doIndent;
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ConfigList configs;
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if (args.size()) {
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stringstream err;
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err << "'" << getName() << "' takes no arguments!";
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throwInvalidUsageException(err);
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}
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masterIndices = getMasterIndices();
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doIndent = masterIndices.size() > 1;
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MasterIndexList::const_iterator mi;
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for (mi = masterIndices.begin();
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mi != masterIndices.end(); mi++) {
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MasterDevice m(*mi);
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m.open(MasterDevice::Read);
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configs = selectedConfigs(m);
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if (configs.size() && doIndent) {
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cout << "Master" << dec << m.getIndex() << endl;
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}
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if (getVerbosity() == Verbose) {
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showDetailedConfigs(m, configs, doIndent);
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} else {
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listConfigs(m, configs, doIndent);
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}
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}
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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 CommandConfig::showDetailedConfigs(
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MasterDevice &m,
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const ConfigList &configList,
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bool doIndent
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)
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{
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ConfigList::const_iterator configIter;
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unsigned int i, j, k, l;
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ec_ioctl_slave_t slave;
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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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ec_ioctl_config_idn_t idn;
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ec_ioctl_config_flag_t flag;
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#ifdef EC_EOE
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ec_ioctl_eoe_ip_t ip;
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#endif
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string indent(doIndent ? " " : "");
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for (configIter = configList.begin();
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configIter != configList.end();
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configIter++) {
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cout << indent
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<< "Alias: "
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<< dec << configIter->alias << endl << indent
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<< "Position: " << configIter->position << endl << indent
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<< "Vendor Id: 0x"
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<< hex << setfill('0')
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<< setw(8) << configIter->vendor_id << endl << indent
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<< "Product code: 0x"
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<< setw(8) << configIter->product_code << endl << indent
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<< "Attached slave: ";
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if (configIter->slave_position != -1) {
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m.getSlave(&slave, configIter->slave_position);
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cout << dec << configIter->slave_position
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<< " (" << alStateString(slave.al_state) << ")" << endl;
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} else {
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cout << "none" << endl;
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}
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cout << indent << "Watchdog divider: ";
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if (configIter->watchdog_divider) {
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cout << dec << configIter->watchdog_divider;
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} else {
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cout << "(Default)";
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}
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cout << endl << indent
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<< "Watchdog intervals: ";
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if (configIter->watchdog_intervals) {
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cout << dec << configIter->watchdog_intervals;
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} else {
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cout << "(Default)";
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}
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cout << endl;
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for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
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if (configIter->syncs[j].pdo_count) {
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cout << indent << "SM" << dec << j << ", Dir: "
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<< (configIter->syncs[j].dir == EC_DIR_INPUT
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? "Input" : "Output") << ", Watchdog: ";
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switch (configIter->syncs[j].watchdog_mode) {
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case EC_WD_DEFAULT: cout << "Default"; break;
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case EC_WD_ENABLE: cout << "Enable"; break;
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case EC_WD_DISABLE: cout << "Disable"; break;
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default: cout << "???"; break;
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}
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cout << endl;
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for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
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m.getConfigPdo(&pdo, configIter->config_index, j, k);
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cout << indent << " PDO 0x" << hex << setfill('0')
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<< setw(4) << pdo.index << endl;
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for (l = 0; l < pdo.entry_count; l++) {
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m.getConfigPdoEntry(&entry,
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configIter->config_index, j, k, l);
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cout << indent << " PDO entry 0x"
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<< hex << setfill('0')
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<< setw(4) << entry.index << ":"
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<< setw(2) << (unsigned int) entry.subindex
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<< ", " << dec << setfill(' ')
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<< setw(2) << (unsigned int) entry.bit_length
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<< " bit" << endl;
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}
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}
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}
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}
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cout << indent << "SDO configuration:" << endl;
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if (configIter->sdo_count) {
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for (j = 0; j < configIter->sdo_count; j++) {
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m.getConfigSdo(&sdo, configIter->config_index, j);
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cout << indent << " 0x"
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<< hex << setfill('0')
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<< setw(4) << sdo.index;
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if (sdo.complete_access) {
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cout << " C";
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}
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else {
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cout << ":" << setw(2) << (unsigned int) sdo.subindex;
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}
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cout << ", " << dec << sdo.size << " byte" << endl;
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cout << indent << " " << hex;
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for (i = 0; i < min((uint32_t) sdo.size,
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(uint32_t) EC_MAX_SDO_DATA_SIZE); i++) {
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cout << setw(2) << (unsigned int) sdo.data[i];
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if ((i + 1) % 16 == 0 && i < sdo.size - 1) {
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cout << endl << indent << " ";
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} else {
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cout << " ";
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}
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}
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cout << endl;
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if (sdo.size > EC_MAX_SDO_DATA_SIZE) {
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cout << indent << " ..." << endl;
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}
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}
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} else {
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cout << indent << " None." << endl;
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}
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cout << indent << "IDN configuration:" << endl;
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if (configIter->idn_count) {
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for (j = 0; j < configIter->idn_count; j++) {
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m.getConfigIdn(&idn, configIter->config_index, j);
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cout << indent << " Drive " << (unsigned int) idn.drive_no
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<< ", " << outputIdn(idn.idn)
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<< ", " << dec << idn.size << " byte" << endl;
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cout << indent << " " << hex << setfill('0');
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for (i = 0; i < min((uint32_t) idn.size,
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(uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
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cout << setw(2) << (unsigned int) idn.data[i];
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if ((i + 1) % 16 == 0 && i < idn.size - 1) {
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cout << endl << indent << " ";
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} else {
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cout << " ";
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}
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}
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cout << endl;
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if (idn.size > EC_MAX_IDN_DATA_SIZE) {
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cout << indent << " ..." << endl;
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}
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}
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} else {
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cout << indent << " None." << endl;
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}
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cout << indent << "Feature flags:" << endl;
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if (configIter->flag_count) {
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for (j = 0; j < configIter->flag_count; j++) {
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m.getConfigFlag(&flag, configIter->config_index, j);
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cout << indent << " " << flag.key
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<< ": " << flag.value << endl;
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}
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} else {
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cout << indent << " None." << endl;
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}
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#ifdef EC_EOE
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m.getIpParam(&ip, configIter->config_index);
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if (ip.mac_address_included or ip.ip_address_included or
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ip.subnet_mask_included or ip.gateway_included or
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ip.dns_included or ip.name_included) {
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cout << indent << "EoE IP parameters:" << endl;
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if (ip.mac_address_included) {
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cout << indent << " MAC address: "
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<< hex << setfill('0') << setw(2)
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<< ip.mac_address[0] << ":"
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<< ip.mac_address[1] << ":"
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<< ip.mac_address[2] << ":"
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<< ip.mac_address[3] << ":"
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<< ip.mac_address[4] << ":"
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<< ip.mac_address[5] << dec << endl;
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}
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if (ip.ip_address_included) {
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const uint8_t *addr = (const uint8_t *) &ip.ip_address;
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cout << indent << " IP address: "
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<< (unsigned int) addr[0] << "."
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<< (unsigned int) addr[1] << "."
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<< (unsigned int) addr[2] << "."
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<< (unsigned int) addr[3] << endl;
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}
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if (ip.subnet_mask_included) {
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const uint8_t *addr = (const uint8_t *) &ip.subnet_mask;
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cout << indent << " Subnet mask: "
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<< (unsigned int) addr[0] << "."
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<< (unsigned int) addr[1] << "."
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<< (unsigned int) addr[2] << "."
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<< (unsigned int) addr[3] << endl;
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}
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if (ip.gateway_included) {
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const uint8_t *addr = (const uint8_t *) &ip.gateway;
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cout << indent << " Default gateway: "
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<< (unsigned int) addr[0] << "."
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<< (unsigned int) addr[1] << "."
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<< (unsigned int) addr[2] << "."
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<< (unsigned int) addr[3] << endl;
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}
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if (ip.dns_included) {
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const uint8_t *addr = (const uint8_t *) &ip.dns;
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cout << indent << " DNS server address: "
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<< (unsigned int) addr[0] << "."
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<< (unsigned int) addr[1] << "."
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<< (unsigned int) addr[2] << "."
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<< (unsigned int) addr[3] << endl;
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}
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if (ip.name_included) {
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cout << indent << " Hostname:" << ip.name << endl;
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}
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}
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#endif
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if (configIter->dc_assign_activate) {
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int i;
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cout << indent << "DC configuration:" << endl
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<< indent << " AssignActivate: 0x" << hex << setfill('0')
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<< setw(4) << configIter->dc_assign_activate << endl;
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cout << indent << " Cycle [ns] Shift [ns]" << endl;
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for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
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cout << indent << " SYNC" << dec << i << " "
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<< setfill(' ') << right
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<< setw(11) << configIter->dc_sync[i].cycle_time
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<< " "
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<< setw(11) << configIter->dc_sync[i].shift_time
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<< 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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/** Lists the bus configuration.
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*/
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void CommandConfig::listConfigs(
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MasterDevice &m,
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const ConfigList &configList,
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bool doIndent
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)
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{
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ConfigList::const_iterator configIter;
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stringstream str;
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Info info;
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typedef list<Info> InfoList;
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InfoList list;
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InfoList::const_iterator iter;
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unsigned int maxAliasWidth = 0, maxPosWidth = 0,
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maxSlavePosWidth = 0, maxStateWidth = 0;
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ec_ioctl_slave_t slave;
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string indent(doIndent ? " " : "");
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for (configIter = configList.begin();
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configIter != configList.end();
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configIter++) {
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str << dec << configIter->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 << configIter->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 << hex << setfill('0')
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<< "0x" << setw(8) << configIter->vendor_id
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<< "/0x" << setw(8) << configIter->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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if (configIter->slave_position != -1) {
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m.getSlave(&slave, configIter->slave_position);
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str << dec << configIter->slave_position;
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info.slavePos = str.str();
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str.clear();
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str.str("");
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info.state = alStateString(slave.al_state);
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} else {
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str << "-";
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info.slavePos = str.str();
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str.clear();
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str.str("");
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str << "-";
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info.state = str.str();
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str.clear();
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str.str("");
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}
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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.slavePos.length() > maxSlavePosWidth)
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maxSlavePosWidth = info.slavePos.length();
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if (info.state.length() > maxStateWidth)
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maxStateWidth = info.state.length();
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}
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for (iter = list.begin(); iter != list.end(); iter++) {
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cout << indent << 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(maxSlavePosWidth) << iter->slavePos << " "
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<< setw(maxStateWidth) << iter->state << " "
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<< endl;
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}
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}
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/****************************************************************************/
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