author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:13:13 +0100 | |
changeset 2247 | 00e3937e0f0a |
parent 1968 | 4f682084c643 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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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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|
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#include <iostream> |
1968
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#include <iomanip> |
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using namespace std; |
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|
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#include "CommandSoeRead.h" |
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#include "MasterDevice.h" |
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|
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/*****************************************************************************/ |
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|
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CommandSoeRead::CommandSoeRead(): |
1966
23c638a81fe7
Output IDN configuration as part of 'ethercat config -v'.
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Command("soe_read", "Read an SoE IDN from a slave.") |
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{ |
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} |
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|
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/*****************************************************************************/ |
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|
1968
4f682084c643
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string CommandSoeRead::helpString(const string &binaryBaseName) const |
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{ |
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stringstream str; |
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|
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str << binaryBaseName << " " << getName() |
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<< " [OPTIONS] <IDN>" << endl |
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<< binaryBaseName << " " << getName() |
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<< " [OPTIONS] <DRIVE> <IDN>" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
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<< "This command requires a single slave to be selected." << endl |
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<< endl |
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<< "Arguments:" << endl |
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<< " DRIVE is the drive number (0 - 7). If omitted, 0 is assumed." |
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<< endl |
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<< " IDN is the IDN and must be either an unsigned" << endl |
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<< " 16 bit number acc. to IEC 61800-7-204:" << endl |
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<< " Bit 15: (0) Standard data, (1) Product data" << endl |
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<< " Bit 14 - 12: Parameter set (0 - 7)" << endl |
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<< " Bit 11 - 0: Data block number" << endl |
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<< " or a string like 'P-0-150'." << endl |
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<< endl |
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<< "Data of the given IDN are read and displayed according to" << endl |
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<< "the given datatype, or as raw hex bytes." << endl |
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<< endl |
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<< typeInfo() |
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<< endl |
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<< "Command-specific options:" << endl |
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<< " --alias -a <alias>" << endl |
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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<< " the 'slaves' command." << endl |
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<< " --type -t <type> Data type (see above)." << endl |
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<< endl |
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<< numericInfo(); |
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|
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return str.str(); |
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} |
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|
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85 |
/****************************************************************************/ |
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|
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void CommandSoeRead::execute(const StringVector &args) |
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{ |
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SlaveList slaves; |
1868
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stringstream err; |
1835
20748e9d2238
Sourced out data type handling into an own class.
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91 |
const DataType *dataType = NULL; |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
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1835
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92 |
ec_ioctl_slave_soe_read_t ioctl; |
1968
4f682084c643
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parents:
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93 |
int driveArgIndex = -1, idnArgIndex = -1; |
1831
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94 |
|
1968
4f682084c643
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1966
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95 |
if (args.size() == 1) { |
4f682084c643
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96 |
idnArgIndex = 0; |
4f682084c643
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parents:
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97 |
} else if (args.size() == 2) { |
4f682084c643
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parents:
1966
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98 |
driveArgIndex = 0; |
4f682084c643
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parents:
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99 |
idnArgIndex = 1; |
4f682084c643
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parents:
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100 |
} else { |
4f682084c643
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101 |
err << "'" << getName() << "' takes eiter 1 or 2 arguments!"; |
1831
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102 |
throwInvalidUsageException(err); |
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103 |
} |
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104 |
|
1968
4f682084c643
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parents:
1966
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105 |
if (driveArgIndex >= 0) { |
4f682084c643
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parents:
1966
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106 |
stringstream str; |
4f682084c643
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parents:
1966
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107 |
unsigned int number; |
4f682084c643
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parents:
1966
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108 |
str << args[driveArgIndex]; |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
109 |
str |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
110 |
>> resetiosflags(ios::basefield) // guess base from prefix |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
111 |
>> number; |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
112 |
if (str.fail() || number > 7) { |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
113 |
err << "Invalid drive number '" << args[driveArgIndex] << "'!"; |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
114 |
throwInvalidUsageException(err); |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
115 |
} |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
116 |
ioctl.drive_no = number; |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
117 |
} else { |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
118 |
ioctl.drive_no = 0; |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
119 |
} |
1953
968a531e5a89
Always set drive_no to zero in ethercat tool (TBC).
Florian Pose <fp@igh-essen.com>
parents:
1877
diff
changeset
|
120 |
|
1868
489ea0becd74
Implemented SoE IDN parser for strings like 'P-0-0150'; moved data type
Florian Pose <fp@igh-essen.com>
parents:
1837
diff
changeset
|
121 |
try { |
1968
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
122 |
ioctl.idn = parseIdn(args[idnArgIndex]); |
1868
489ea0becd74
Implemented SoE IDN parser for strings like 'P-0-0150'; moved data type
Florian Pose <fp@igh-essen.com>
parents:
1837
diff
changeset
|
123 |
} catch (runtime_error &e) { |
1968
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1966
diff
changeset
|
124 |
err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what(); |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
throwInvalidUsageException(err); |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
126 |
} |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
127 |
|
1870
0cee1fb7f0fd
Added getSingleMasterIndex() for command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1869
diff
changeset
|
128 |
MasterDevice m(getSingleMasterIndex()); |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
129 |
m.open(MasterDevice::Read); |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
130 |
slaves = selectedSlaves(m); |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
131 |
if (slaves.size() != 1) { |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
132 |
throwSingleSlaveRequired(slaves.size()); |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
133 |
} |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
134 |
ioctl.slave_position = slaves.front().position; |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
|
1835
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
136 |
if (getDataType().empty()) { |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
137 |
dataType = findDataType("raw"); // FIXME |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
138 |
} else { // no data type specified |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
139 |
if (!(dataType = findDataType(getDataType()))) { |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
140 |
err << "Invalid data type '" << getDataType() << "'!"; |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
141 |
throwInvalidUsageException(err); |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
142 |
} |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
143 |
} |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
144 |
|
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
145 |
if (dataType->byteSize) { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
146 |
ioctl.mem_size = dataType->byteSize; |
1835
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
147 |
} else { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
148 |
ioctl.mem_size = 1024; |
1835
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
149 |
} |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
150 |
|
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
151 |
ioctl.data = new uint8_t[ioctl.mem_size + 1]; |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
|
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
try { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
154 |
m.readSoe(&ioctl); |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
} catch (MasterDeviceSoeException &e) { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
156 |
delete [] ioctl.data; |
1877
7b77000f9764
Included list of common SoE error messages.
Florian Pose <fp@igh-essen.com>
parents:
1872
diff
changeset
|
157 |
err << "SoE read command failed with code " << errorMsg(e.errorCode); |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
throwCommandException(err); |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
} catch (MasterDeviceException &e) { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
160 |
delete [] ioctl.data; |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
throw e; |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
} |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
|
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
m.close(); |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
|
1835
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
166 |
try { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
167 |
outputData(cout, dataType, ioctl.data, ioctl.data_size); |
1835
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
168 |
} catch (SizeException &e) { |
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
169 |
delete [] ioctl.data; |
1835
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
170 |
throwCommandException(e.what()); |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1832
diff
changeset
|
171 |
} |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
|
1837
32136215c1fa
Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents:
1835
diff
changeset
|
173 |
delete [] ioctl.data; |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
} |
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
|
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
/*****************************************************************************/ |