tool/CommandSoeWrite.cpp
author Florian Pose <fp@igh-essen.com>
Thu, 15 Apr 2010 20:52:49 +0200
changeset 1897 029345a0de52
parent 1877 7b77000f9764
child 1953 968a531e5a89
permissions -rw-r--r--
Removed printk().
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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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#include <iostream>
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using namespace std;
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#include "CommandSoeWrite.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandSoeWrite::CommandSoeWrite():
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    SoeCommand("soe_write", "Write an SoE IDN to a slave.")
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{
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}
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/*****************************************************************************/
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string CommandSoeWrite::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS] <IDN> <VALUE>" << 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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        << "  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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        << "  VALUE    is the value to write (see below)." << endl
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		<< endl
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        << "The VALUE argument is interpreted as the given data type" << endl
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		<< "(--type is mandatory) and written to the selected slave." << 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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    return str.str();
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}
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/****************************************************************************/
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void CommandSoeWrite::execute(const StringVector &args)
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{
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    stringstream strIdn, err;
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    const DataType *dataType = NULL;
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    ec_ioctl_slave_soe_write_t ioctl;
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    SlaveList slaves;
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    size_t memSize;
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    if (args.size() != 2) {
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        err << "'" << getName() << "' takes 2 arguments!";
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        throwInvalidUsageException(err);
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    }
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    try {
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        ioctl.idn = parseIdn(args[0]);
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    } catch (runtime_error &e) {
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        err << "Invalid IDN '" << args[0] << "': " << e.what();
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        throwInvalidUsageException(err);
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    }
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    MasterDevice m(getSingleMasterIndex());
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    m.open(MasterDevice::ReadWrite);
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    slaves = selectedSlaves(m);
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    if (slaves.size() != 1) {
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        throwSingleSlaveRequired(slaves.size());
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    }
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    ioctl.slave_position = slaves.front().position;
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    if (!getDataType().empty()) { // data type specified
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        if (!(dataType = findDataType(getDataType()))) {
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            err << "Invalid data type '" << getDataType() << "'!";
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            throwInvalidUsageException(err);
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        }
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    } else { // no data type specified
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        err << "Please specify a data type.";
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        throwInvalidUsageException(err); // FIXME read from stream
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    }
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    if (dataType->byteSize) {
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        memSize = dataType->byteSize;
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    } else {
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        // guess string type size
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        memSize = args[1].size() + 1;
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        if (!memSize) {
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            err << "Empty argument not allowed.";
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            throwInvalidUsageException(err);
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        }
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    }
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fec951a0a654 Fixed string argument for soe_write.
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    ioctl.data = new uint8_t[memSize];
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    try {
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        ioctl.data_size = interpretAsType(
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                dataType, args[1], ioctl.data, memSize);
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    } catch (SizeException &e) {
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        delete [] ioctl.data;
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        throwCommandException(e.what());
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    } catch (ios::failure &e) {
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        delete [] ioctl.data;
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        err << "Invalid value argument '" << args[1]
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            << "' for type '" << dataType->name << "'!";
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        throwInvalidUsageException(err);
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    }
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    try {
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        m.writeSoe(&ioctl);
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    } catch (MasterDeviceSoeException &e) {
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        delete [] ioctl.data;
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7b77000f9764 Included list of common SoE error messages.
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        err << "SoE write command failed with code " << errorMsg(e.errorCode);
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        throwCommandException(err);
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    } catch (MasterDeviceException &e) {
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        delete [] ioctl.data;
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        throw e;
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    }
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    delete [] ioctl.data;
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}
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/*****************************************************************************/