/** \file
 * \brief Example code for Simple Open EtherCAT master
 *
 * Usage : slaveinfo [ifname] [-sdo] [-map]
 * Ifname is NIC interface, f.e. eth0.
 * Optional -sdo to display CoE object dictionary.
 * Optional -map to display slave PDO mapping
 *
 * This shows the configured slave data.
 *
 * (c)Arthur Ketels 2010 - 2011
 */

#include <inttypes.h>
#include <stdio.h>
#include <string.h>

#include "ethercat.h"

char IOmap[4096];
ec_ODlistt ODlist;
ec_OElistt OElist;
boolean printSDO = FALSE;
boolean printMAP = FALSE;
char usdo[128];

#define OTYPE_VAR 0x0007
#define OTYPE_ARRAY 0x0008
#define OTYPE_RECORD 0x0009

#define ATYPE_Rpre 0x01
#define ATYPE_Rsafe 0x02
#define ATYPE_Rop 0x04
#define ATYPE_Wpre 0x08
#define ATYPE_Wsafe 0x10
#define ATYPE_Wop 0x20

char* dtype2string(uint16 dtype, uint16 bitlen) {
  static char str[32] = {0};

  switch (dtype) {
    case ECT_BOOLEAN:
      sprintf(str, "BOOLEAN");
      break;
    case ECT_INTEGER8:
      sprintf(str, "INTEGER8");
      break;
    case ECT_INTEGER16:
      sprintf(str, "INTEGER16");
      break;
    case ECT_INTEGER32:
      sprintf(str, "INTEGER32");
      break;
    case ECT_INTEGER24:
      sprintf(str, "INTEGER24");
      break;
    case ECT_INTEGER64:
      sprintf(str, "INTEGER64");
      break;
    case ECT_UNSIGNED8:
      sprintf(str, "UNSIGNED8");
      break;
    case ECT_UNSIGNED16:
      sprintf(str, "UNSIGNED16");
      break;
    case ECT_UNSIGNED32:
      sprintf(str, "UNSIGNED32");
      break;
    case ECT_UNSIGNED24:
      sprintf(str, "UNSIGNED24");
      break;
    case ECT_UNSIGNED64:
      sprintf(str, "UNSIGNED64");
      break;
    case ECT_REAL32:
      sprintf(str, "REAL32");
      break;
    case ECT_REAL64:
      sprintf(str, "REAL64");
      break;
    case ECT_BIT1:
      sprintf(str, "BIT1");
      break;
    case ECT_BIT2:
      sprintf(str, "BIT2");
      break;
    case ECT_BIT3:
      sprintf(str, "BIT3");
      break;
    case ECT_BIT4:
      sprintf(str, "BIT4");
      break;
    case ECT_BIT5:
      sprintf(str, "BIT5");
      break;
    case ECT_BIT6:
      sprintf(str, "BIT6");
      break;
    case ECT_BIT7:
      sprintf(str, "BIT7");
      break;
    case ECT_BIT8:
      sprintf(str, "BIT8");
      break;
    case ECT_VISIBLE_STRING:
      sprintf(str, "VISIBLE_STR(%d)", bitlen);
      break;
    case ECT_OCTET_STRING:
      sprintf(str, "OCTET_STR(%d)", bitlen);
      break;
    default:
      sprintf(str, "dt:0x%4.4X (%d)", dtype, bitlen);
  }
  return str;
}

char* otype2string(uint16 otype) {
  static char str[32] = {0};

  switch (otype) {
    case OTYPE_VAR:
      sprintf(str, "VAR");
      break;
    case OTYPE_ARRAY:
      sprintf(str, "ARRAY");
      break;
    case OTYPE_RECORD:
      sprintf(str, "RECORD");
      break;
    default:
      sprintf(str, "ot:0x%4.4X", otype);
  }
  return str;
}

char* access2string(uint16 access) {
  static char str[32] = {0};

  sprintf(str, "%s%s%s%s%s%s", ((access & ATYPE_Rpre) != 0 ? "R" : "_"),
          ((access & ATYPE_Wpre) != 0 ? "W" : "_"),
          ((access & ATYPE_Rsafe) != 0 ? "R" : "_"),
          ((access & ATYPE_Wsafe) != 0 ? "W" : "_"),
          ((access & ATYPE_Rop) != 0 ? "R" : "_"),
          ((access & ATYPE_Wop) != 0 ? "W" : "_"));
  return str;
}

char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype) {
  int l = sizeof(usdo) - 1, i;
  uint8* u8;
  int8* i8;
  uint16* u16;
  int16* i16;
  uint32* u32;
  int32* i32;
  uint64* u64;
  int64* i64;
  float* sr;
  double* dr;
  char es[32];

  memset(&usdo, 0, 128);
  ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
  if (EcatError) {
    return ec_elist2string();
  } else {
    static char str[64] = {0};
    switch (dtype) {
      case ECT_BOOLEAN:
        u8 = (uint8*)&usdo[0];
        if (*u8)
          sprintf(str, "TRUE");
        else
          sprintf(str, "FALSE");
        break;
      case ECT_INTEGER8:
        i8 = (int8*)&usdo[0];
        sprintf(str, "0x%2.2x / %d", *i8, *i8);
        break;
      case ECT_INTEGER16:
        i16 = (int16*)&usdo[0];
        sprintf(str, "0x%4.4x / %d", *i16, *i16);
        break;
      case ECT_INTEGER32:
      case ECT_INTEGER24:
        i32 = (int32*)&usdo[0];
        sprintf(str, "0x%8.8x / %d", *i32, *i32);
        break;
      case ECT_INTEGER64:
        i64 = (int64*)&usdo[0];
        sprintf(str, "0x%16.16" PRIx64 " / %" PRId64, *i64, *i64);
        break;
      case ECT_UNSIGNED8:
        u8 = (uint8*)&usdo[0];
        sprintf(str, "0x%2.2x / %u", *u8, *u8);
        break;
      case ECT_UNSIGNED16:
        u16 = (uint16*)&usdo[0];
        sprintf(str, "0x%4.4x / %u", *u16, *u16);
        break;
      case ECT_UNSIGNED32:
      case ECT_UNSIGNED24:
        u32 = (uint32*)&usdo[0];
        sprintf(str, "0x%8.8x / %u", *u32, *u32);
        break;
      case ECT_UNSIGNED64:
        u64 = (uint64*)&usdo[0];
        sprintf(str, "0x%16.16" PRIx64 " / %" PRIu64, *u64, *u64);
        break;
      case ECT_REAL32:
        sr = (float*)&usdo[0];
        sprintf(str, "%f", *sr);
        break;
      case ECT_REAL64:
        dr = (double*)&usdo[0];
        sprintf(str, "%f", *dr);
        break;
      case ECT_BIT1:
      case ECT_BIT2:
      case ECT_BIT3:
      case ECT_BIT4:
      case ECT_BIT5:
      case ECT_BIT6:
      case ECT_BIT7:
      case ECT_BIT8:
        u8 = (uint8*)&usdo[0];
        sprintf(str, "0x%x / %u", *u8, *u8);
        break;
      case ECT_VISIBLE_STRING:
        strcpy(str, "\"");
        strcat(str, usdo);
        strcat(str, "\"");
        break;
      case ECT_OCTET_STRING:
        str[0] = 0x00;
        for (i = 0; i < l; i++) {
          sprintf(es, "0x%2.2x ", usdo[i]);
          strcat(str, es);
        }
        break;
      default:
        sprintf(str, "Unknown type");
    }
    return str;
  }
}

/** Read PDO assign structure */
int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset) {
  uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
  uint8 subcnt;
  int wkc, bsize = 0, rdl;
  int32 rdat2;
  uint8 bitlen, obj_subidx;
  uint16 obj_idx;
  int abs_offset, abs_bit;

  rdl = sizeof(rdat);
  rdat = 0;
  /* read PDO assign subindex 0 ( = number of PDO's) */
  wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
  rdat = etohs(rdat);
  /* positive result from slave ? */
  if ((wkc > 0) && (rdat > 0)) {
    /* number of available sub indexes */
    nidx = rdat;
    bsize = 0;
    /* read all PDO's */
    for (idxloop = 1; idxloop <= nidx; idxloop++) {
      rdl = sizeof(rdat);
      rdat = 0;
      /* read PDO assign */
      wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat,
                       EC_TIMEOUTRXM);
      /* result is index of PDO */
      idx = etohs(rdat);
      if (idx > 0) {
        rdl = sizeof(subcnt);
        subcnt = 0;
        /* read number of subindexes of PDO */
        wkc = ec_SDOread(slave, idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
        subidx = subcnt;
        /* for each subindex */
        for (subidxloop = 1; subidxloop <= subidx; subidxloop++) {
          rdl = sizeof(rdat2);
          rdat2 = 0;
          /* read SDO that is mapped in PDO */
          wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2,
                           EC_TIMEOUTRXM);
          rdat2 = etohl(rdat2);
          /* extract bitlength of SDO */
          bitlen = LO_BYTE(rdat2);
          bsize += bitlen;
          obj_idx = (uint16)(rdat2 >> 16);
          obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
          abs_offset = mapoffset + (bitoffset / 8);
          abs_bit = bitoffset % 8;
          ODlist.Slave = slave;
          ODlist.Index[0] = obj_idx;
          OElist.Entries = 0;
          wkc = 0;
          /* read object entry from dictionary if not a filler (0x0000:0x00) */
          if (obj_idx || obj_subidx)
            wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
          printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit,
                 obj_idx, obj_subidx, bitlen);
          if ((wkc > 0) && OElist.Entries) {
            printf(" %-12s %s\n",
                   dtype2string(OElist.DataType[obj_subidx], bitlen),
                   OElist.Name[obj_subidx]);
          } else
            printf("\n");
          bitoffset += bitlen;
        };
      };
    };
  };
  /* return total found bitlength (PDO) */
  return bsize;
}

int si_map_sdo(int slave) {
  int wkc, rdl;
  int retVal = 0;
  uint8 nSM, iSM, tSM;
  int Tsize, outputs_bo, inputs_bo;
  uint8 SMt_bug_add;

  printf("PDO mapping according to CoE :\n");
  SMt_bug_add = 0;
  outputs_bo = 0;
  inputs_bo = 0;
  rdl = sizeof(nSM);
  nSM = 0;
  /* read SyncManager Communication Type object count */
  wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM,
                   EC_TIMEOUTRXM);
  /* positive result from slave ? */
  if ((wkc > 0) && (nSM > 2)) {
    /* make nSM equal to number of defined SM */
    nSM--;
    /* limit to maximum number of SM defined, if true the slave can't be
     * configured */
    if (nSM > EC_MAXSM) nSM = EC_MAXSM;
    /* iterate for every SM type defined */
    for (iSM = 2; iSM <= nSM; iSM++) {
      rdl = sizeof(tSM);
      tSM = 0;
      /* read SyncManager Communication Type */
      wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM,
                       EC_TIMEOUTRXM);
      if (wkc > 0) {
        if ((iSM == 2) &&
            (tSM ==
             2))  // SM2 has type 2 == mailbox out, this is a bug in the slave!
        {
          SMt_bug_add = 1;  // try to correct, this works if the types are 0 1 2
                            // 3 and should be 1 2 3 4
          printf("Activated SM type workaround, possible incorrect mapping.\n");
        }
        if (tSM) tSM += SMt_bug_add;  // only add if SMt > 0

        if (tSM == 3)  // outputs
        {
          /* read the assign RXPDO */
          printf(
              "  SM%1d outputs\n     addr b   index: sub bitl common_type    "
              "name\n",
              iSM);
          Tsize = si_PDOassign(
              slave, ECT_SDO_PDOASSIGN + iSM,
              (int)(ec_slave[slave].outputs - (uint8*)&IOmap[0]), outputs_bo);
          outputs_bo += Tsize;
        }
        if (tSM == 4)  // inputs
        {
          /* read the assign TXPDO */
          printf(
              "  SM%1d inputs\n     addr b   index: sub bitl common_type    "
              "name\n",
              iSM);
          Tsize = si_PDOassign(
              slave, ECT_SDO_PDOASSIGN + iSM,
              (int)(ec_slave[slave].inputs - (uint8*)&IOmap[0]), inputs_bo);
          inputs_bo += Tsize;
        }
      }
    }
  }

  /* found some I/O bits ? */
  if ((outputs_bo > 0) || (inputs_bo > 0)) retVal = 1;
  return retVal;
}

int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset) {
  uint16 a, w, c, e, er;
  uint8 eectl;
  uint16 obj_idx;
  uint8 obj_subidx;
  uint8 obj_name;
  uint8 obj_datatype;
  uint8 bitlen;
  int totalsize;
  ec_eepromPDOt eepPDO;
  ec_eepromPDOt* PDO;
  int abs_offset, abs_bit;
  char str_name[EC_MAXNAME + 1];

  eectl = ec_slave[slave].eep_pdi;

  totalsize = 0;
  PDO = &eepPDO;
  PDO->nPDO = 0;
  PDO->Length = 0;
  PDO->Index[1] = 0;
  for (c = 0; c < EC_MAXSM; c++) PDO->SMbitsize[c] = 0;
  if (t > 1) t = 1;
  PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
  if (PDO->Startpos > 0) {
    a = PDO->Startpos;
    w = ec_siigetbyte(slave, a++);
    w += (ec_siigetbyte(slave, a++) << 8);
    PDO->Length = w;
    c = 1;
    /* traverse through all PDOs */
    do {
      PDO->nPDO++;
      PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
      PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
      PDO->BitSize[PDO->nPDO] = 0;
      c++;
      /* number of entries in PDO */
      e = ec_siigetbyte(slave, a++);
      PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
      a++;
      obj_name = ec_siigetbyte(slave, a++);
      a += 2;
      c += 2;
      if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
      {
        str_name[0] = 0;
        if (obj_name) ec_siistring(str_name, slave, obj_name);
        if (t)
          printf("  SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO],
                 PDO->Index[PDO->nPDO], str_name);
        else
          printf("  SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO],
                 PDO->Index[PDO->nPDO], str_name);
        printf("     addr b   index: sub bitl common_type    name\n");
        /* read all entries defined in PDO */
        for (er = 1; er <= e; er++) {
          c += 4;
          obj_idx = ec_siigetbyte(slave, a++);
          obj_idx += (ec_siigetbyte(slave, a++) << 8);
          obj_subidx = ec_siigetbyte(slave, a++);
          obj_name = ec_siigetbyte(slave, a++);
          obj_datatype = ec_siigetbyte(slave, a++);
          bitlen = ec_siigetbyte(slave, a++);
          abs_offset = mapoffset + (bitoffset / 8);
          abs_bit = bitoffset % 8;

          PDO->BitSize[PDO->nPDO] += bitlen;
          a += 2;

          /* skip entry if filler (0x0000:0x00) */
          if (obj_idx || obj_subidx) {
            str_name[0] = 0;
            if (obj_name) ec_siistring(str_name, slave, obj_name);

            printf("  [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset,
                   abs_bit, obj_idx, obj_subidx, bitlen);
            printf(" %-12s %s\n", dtype2string(obj_datatype, bitlen), str_name);
          }
          bitoffset += bitlen;
          totalsize += bitlen;
        }
        PDO->SMbitsize[PDO->SyncM[PDO->nPDO]] += PDO->BitSize[PDO->nPDO];
        c++;
      } else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
      {
        c += 4 * e;
        a += 8 * e;
        c++;
      }
      if (PDO->nPDO >= (EC_MAXEEPDO - 1))
        c = PDO->Length; /* limit number of PDO entries in buffer */
    } while (c < PDO->Length);
  }
  if (eectl)
    ec_eeprom2pdi(
        slave); /* if eeprom control was previously pdi then restore */
  return totalsize;
}

int si_map_sii(int slave) {
  int retVal = 0;
  int Tsize, outputs_bo, inputs_bo;

  printf("PDO mapping according to SII :\n");

  outputs_bo = 0;
  inputs_bo = 0;
  /* read the assign RXPDOs */
  Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap),
                    outputs_bo);
  outputs_bo += Tsize;
  /* read the assign TXPDOs */
  Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap),
                    inputs_bo);
  inputs_bo += Tsize;
  /* found some I/O bits ? */
  if ((outputs_bo > 0) || (inputs_bo > 0)) retVal = 1;
  return retVal;
}

void si_sdo(int cnt) {
  int i, j;

  ODlist.Entries = 0;
  memset(&ODlist, 0, sizeof(ODlist));
  if (ec_readODlist(cnt, &ODlist)) {
    printf(" CoE Object Description found, %d entries.\n", ODlist.Entries);
    for (i = 0; i < ODlist.Entries; i++) {
      uint8_t max_sub;
      char name[128] = {0};

      ec_readODdescription(i, &ODlist);
      while (EcatError) printf(" - %s\n", ec_elist2string());
      snprintf(name, sizeof(name) - 1, "\"%s\"", ODlist.Name[i]);
      if (ODlist.ObjectCode[i] == OTYPE_VAR) {
        printf("0x%04x      %-40s      [%s]\n", ODlist.Index[i], name,
               otype2string(ODlist.ObjectCode[i]));
      } else {
        printf("0x%04x      %-40s      [%s  maxsub(0x%02x / %d)]\n",
               ODlist.Index[i], name, otype2string(ODlist.ObjectCode[i]),
               ODlist.MaxSub[i], ODlist.MaxSub[i]);
      }
      memset(&OElist, 0, sizeof(OElist));
      ec_readOE(i, &ODlist, &OElist);
      while (EcatError) printf("- %s\n", ec_elist2string());

      if (ODlist.ObjectCode[i] != OTYPE_VAR) {
        int l = sizeof(max_sub);
        ec_SDOread(cnt, ODlist.Index[i], 0, FALSE, &l, &max_sub, EC_TIMEOUTRXM);
      } else {
        max_sub = ODlist.MaxSub[i];
      }

      for (j = 0; j < max_sub + 1; j++) {
        if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0)) {
          snprintf(name, sizeof(name) - 1, "\"%s\"", OElist.Name[j]);
          printf("    0x%02x      %-40s      [%-16s %6s]      ", j, name,
                 dtype2string(OElist.DataType[j], OElist.BitLength[j]),
                 access2string(OElist.ObjAccess[j]));
          if ((OElist.ObjAccess[j] & 0x0007)) {
            printf("%s",
                   SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
          }
          printf("\n");
        }
      }
    }
  } else {
    while (EcatError) printf("%s", ec_elist2string());
  }
}

void slaveinfo(char* ifname) {
  int cnt, i, j, nSM;
  uint16 ssigen;
  int expectedWKC;

  printf("Starting slaveinfo\n");

  /* initialise SOEM, bind socket to ifname */
  if (ec_init(ifname)) {
    printf("ec_init on %s succeeded.\n", ifname);
    /* find and auto-config slaves */
    if (ec_config(FALSE, &IOmap) > 0) {
      ec_configdc();
      while (EcatError) printf("%s", ec_elist2string());
      printf("%d slaves found and configured.\n", ec_slavecount);
      expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
      printf("Calculated workcounter %d\n", expectedWKC);
      /* wait for all slaves to reach SAFE_OP state */
      ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
      if (ec_slave[0].state != EC_STATE_SAFE_OP) {
        printf("Not all slaves reached safe operational state.\n");
        ec_readstate();
        for (i = 1; i <= ec_slavecount; i++) {
          if (ec_slave[i].state != EC_STATE_SAFE_OP) {
            printf("Slave %d State=%2x StatusCode=%4x : %s\n", i,
                   ec_slave[i].state, ec_slave[i].ALstatuscode,
                   ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
          }
        }
      }

      ec_readstate();
      for (cnt = 1; cnt <= ec_slavecount; cnt++) {
        printf(
            "\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n "
            "State: %d\n Delay: %d[ns]\n Has DC: %d\n",
            cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
            ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
        if (ec_slave[cnt].hasdc)
          printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
        printf(" Activeports:%d.%d.%d.%d\n",
               (ec_slave[cnt].activeports & 0x01) > 0,
               (ec_slave[cnt].activeports & 0x02) > 0,
               (ec_slave[cnt].activeports & 0x04) > 0,
               (ec_slave[cnt].activeports & 0x08) > 0);
        printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
        printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man,
               (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
        for (nSM = 0; nSM < EC_MAXSM; nSM++) {
          if (ec_slave[cnt].SM[nSM].StartAddr > 0)
            printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n", nSM,
                   etohs(ec_slave[cnt].SM[nSM].StartAddr),
                   etohs(ec_slave[cnt].SM[nSM].SMlength),
                   etohl(ec_slave[cnt].SM[nSM].SMflags),
                   ec_slave[cnt].SMtype[nSM]);
        }
        for (j = 0; j < ec_slave[cnt].FMMUunused; j++) {
          printf(
              " FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x "
              "Act:%2.2x\n",
              j, etohl(ec_slave[cnt].FMMU[j].LogStart),
              etohs(ec_slave[cnt].FMMU[j].LogLength),
              ec_slave[cnt].FMMU[j].LogStartbit,
              ec_slave[cnt].FMMU[j].LogEndbit,
              etohs(ec_slave[cnt].FMMU[j].PhysStart),
              ec_slave[cnt].FMMU[j].PhysStartBit,
              ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
        }
        printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n", ec_slave[cnt].FMMU0func,
               ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func,
               ec_slave[cnt].FMMU3func);
        printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n",
               ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl,
               ec_slave[cnt].mbx_proto);
        ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
        /* SII general section */
        if (ssigen) {
          ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
          ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
          ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
          ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
          if ((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0) {
            ec_slave[cnt].blockLRW = 1;
            ec_slave[0].blockLRW++;
          }
          ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
          ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
          ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
        }
        printf(
            " CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE "
            "details: %2.2x\n",
            ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails,
            ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
        printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
               ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
        if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
          si_sdo(cnt);
        if (printMAP) {
          if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
            si_map_sdo(cnt);
          else
            si_map_sii(cnt);
        }
      }
    } else {
      printf("No slaves found!\n");
    }
    printf("End slaveinfo, close socket\n");
    /* stop SOEM, close socket */
    ec_close();
  } else {
    printf("No socket connection on %s\nExcecute as root\n", ifname);
  }
}

char ifbuf[1024];

int main(int argc, char* argv[]) {
  ec_adaptert* adapter = NULL;
  printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");

  if (argc > 1) {
    if ((argc > 2) && (strncmp(argv[2], "-sdo", sizeof("-sdo")) == 0))
      printSDO = TRUE;
    if ((argc > 2) && (strncmp(argv[2], "-map", sizeof("-map")) == 0))
      printMAP = TRUE;
    /* start slaveinfo */
    strcpy(ifbuf, argv[1]);
    slaveinfo(ifbuf);
  } else {
    printf(
        "Usage: slaveinfo ifname [options]\nifname = eth0 for example\nOptions "
        ":\n -sdo : print SDO info\n -map : print mapping\n");

    printf("Available adapters\n");
    adapter = ec_find_adapters();
    while (adapter != NULL) {
      printf("Description : %s, Device to use for wpcap: %s\n", adapter->desc,
             adapter->name);
      adapter = adapter->next;
    }
    ec_free_adapters(adapter);
  }

  printf("End program\n");
  return (0);
}
