etherlabmaster: tool/main.cpp@04d1c950cf9d (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <getopt.h>
1118 9487162e4d4d helpWanted; cmdName. Florian Pose <fp@igh-essen.com> parents: 1099 diff changeset	8	#include <libgen.h> // basename()
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <iostream>
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	11	#include <iomanip>
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	14	#include "CommandAlias.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	15	#include "CommandConfig.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	16	#include "CommandData.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	17	#include "CommandDebug.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	18	#include "CommandDomains.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	19	#include "CommandMaster.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	20	#include "CommandPdos.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	21	#include "CommandSdos.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	22	#include "CommandDownload.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	23	#include "CommandUpload.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	24	#include "CommandSlaves.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	25	#include "CommandSiiRead.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	26	#include "CommandSiiWrite.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	27	#include "CommandStates.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	28	#include "CommandXml.h"
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	29
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	30	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	31
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	32	typedef list<Command *> CommandList;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	33	CommandList commandList;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	34
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	35	MasterDevice masterDev;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	36
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	37	string binaryBaseName;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	38	string commandName;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	39	Command::StringVector commandArgs;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	40
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	41	// option variables
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	42	unsigned int masterIndex = 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	43	int slavePosition = -1;
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	44	int slaveAlias = -1;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	45	int domainIndex = -1;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	46	string dataTypeStr;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	47	Command::Verbosity verbosity = Command::Normal;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	48	bool force = false;
1121 52a005ffd011 helpRequested. Florian Pose <fp@igh-essen.com> parents: 1120 diff changeset	49	bool helpRequested = false;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	51	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	52
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	53	string usage()
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	54	{
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	55	stringstream str;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	56	CommandList::const_iterator ci;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	57	size_t maxWidth = 0;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	58
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	59	for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	60	if ((*ci)->getName().length() > maxWidth) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	61	maxWidth = (*ci)->getName().length();
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	62	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	63	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	64
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	65	str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
1137 a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	66	<< endl << endl
a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	67	<< "Commands (can be abbreviated):" << endl;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	68
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	69	str << left;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	70	for (ci = commandList.begin(); ci != commandList.end(); ci++) {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	71	str << " " << setw(maxWidth) << (*ci)->getName()
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	72	<< " " << (*ci)->getBriefDescription() << endl;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	73	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1125 diff changeset	74
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	75	str << endl
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	76	<< "Global options:" << endl
1137 a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	77	<< " --master -m <master> Index of the master to use. Default: 0."
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	78	<< endl
1137 a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	79	<< " --force -f Force a command." << endl
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	80	<< " --quiet -q Output less information." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	81	<< " --verbose -v Output more information." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	82	<< " --help -h Show this help." << endl
1137 a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	83	<< endl
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	84	<< Command::numericInfo()
1137 a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	85	<< endl
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	86	<< "Call '" << binaryBaseName
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	87	<< " <COMMAND> --help' for command-specific help." << endl
1137 a73c0f54be42 Added command-line help for every ethercat command. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	88	<< endl
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	89	<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	90
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	91	return str.str();
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	92	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	93
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	94	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	95
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	96	void getOptions(int argc, char **argv)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	97	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	98	int c, argCount, optionIndex, number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	99	char *remainder;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	100
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	101	static struct option longOptions[] = {
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	102	//name, has_arg, flag, val
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	103	{"master", required_argument, NULL, 'm'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	104	{"alias", required_argument, NULL, 'a'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	105	{"position", required_argument, NULL, 'p'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	106	{"domain", required_argument, NULL, 'd'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	107	{"type", required_argument, NULL, 't'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	108	{"force", no_argument, NULL, 'f'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	109	{"quiet", no_argument, NULL, 'q'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	110	{"verbose", no_argument, NULL, 'v'},
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	111	{"help", no_argument, NULL, 'h'},
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	112	{}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	113	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	114
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	115	do {
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	116	c = getopt_long(argc, argv, "m:a:p:d:t:fqvh",
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	117	longOptions, &optionIndex);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	118
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	119	switch (c) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	120	case 'm':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	121	number = strtoul(optarg, &remainder, 0);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	122	if (remainder == optarg \|\| *remainder \|\| number < 0) {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	123	cerr << "Invalid master number " << optarg << "!" << endl
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	124	<< endl << usage();
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	125	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	126	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	127	masterIndex = number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	128	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	129
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	130	case 'a':
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	131	if (!strcmp(optarg, "all")) {
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	132	slaveAlias = -1;
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	133	} else {
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	134	number = strtoul(optarg, &remainder, 0);
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	135	if (remainder == optarg \|\| *remainder
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	136	\|\| number < 0 \|\| number > 0xFFFF) {
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	137	cerr << "Invalid slave alias " << optarg << "!"
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	138	<< endl << endl << usage();
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	139	exit(1);
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	140	}
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	141	slaveAlias = number;
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	142	}
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	143	break;
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	144
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	145	case 'p':
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	146	if (!strcmp(optarg, "all")) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	147	slavePosition = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	148	} else {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	149	number = strtoul(optarg, &remainder, 0);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	150	if (remainder == optarg \|\| *remainder
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	151	\|\| number < 0 \|\| number > 0xFFFF) {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	152	cerr << "Invalid slave position " << optarg << "!"
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	153	<< endl << endl << usage();
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	154	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	155	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	156	slavePosition = number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	157	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	158	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	159
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	160	case 'd':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	161	if (!strcmp(optarg, "all")) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	162	domainIndex = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	163	} else {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	164	number = strtoul(optarg, &remainder, 0);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	165	if (remainder == optarg \|\| *remainder \|\| number < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	166	cerr << "Invalid domain index "
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	167	<< optarg << "!" << endl << endl << usage();
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	168	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	169	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	170	domainIndex = number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	171	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	172	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	173
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	174	case 't':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	175	dataTypeStr = optarg;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	176	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	177
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	178	case 'f':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	179	force = true;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	180	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	181
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	182	case 'q':
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	183	verbosity = Command::Quiet;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	184	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	185
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	186	case 'v':
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	187	verbosity = Command::Verbose;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	188	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	189
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	190	case 'h':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	191	helpRequested = true;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	192	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	193
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	194	case '?':
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	195	cerr << endl << usage();
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	196	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	197
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	198	default:
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	199	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	200	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	201	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	202	while (c != -1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	203
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	204	argCount = argc - optind;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	205
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	206	if (!argCount) {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	207	if (helpRequested) {
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	208	cout << usage();
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	209	exit(0);
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	210	} else {
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	211	cerr << "Please specify a command!" << endl
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	212	<< endl << usage();
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	213	exit(1);
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	214	}
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	215	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	216
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	217	commandName = argv[optind];
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	218	while (++optind < argc)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	219	commandArgs.push_back(string(argv[optind]));
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	220	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	221
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	222	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	223
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	224	list<Command *> getMatchingCommands(const string &cmdStr)
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	225	{
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	226	CommandList::iterator ci;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	227	list<Command *> res;
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	228
1127 bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	229	// find matching commands from beginning of the string
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	230	for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	231	if ((*ci)->matchesSubstr(cmdStr)) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	232	res.push_back(*ci);
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	233	}
9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	234	}
9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	235
1127 bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	236	if (!res.size()) { // nothing found
bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	237	// find /any/ matching commands
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	238	for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	239	if ((*ci)->matchesAbbrev(cmdStr)) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	240	res.push_back(*ci);
1127 bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	241	}
bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	242	}
bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	243	}
bd7aef6c310c Improved abbreviation. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	244
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	245	return res;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	246	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	247
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	248	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	249
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	250	int main(int argc, char **argv)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	251	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	252	int retval = 0;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	253	list<Command *> matchingCommands;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	254	list<Command *>::const_iterator ci;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	255	Command *cmd;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	256
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	257	binaryBaseName = basename(argv[0]);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	258
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	259	commandList.push_back(new CommandAlias());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	260	commandList.push_back(new CommandConfig());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	261	commandList.push_back(new CommandData());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	262	commandList.push_back(new CommandDebug());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	263	commandList.push_back(new CommandDomains());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	264	commandList.push_back(new CommandDownload());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	265	commandList.push_back(new CommandMaster());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	266	commandList.push_back(new CommandPdos());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	267	commandList.push_back(new CommandSdos());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	268	commandList.push_back(new CommandSiiRead());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	269	commandList.push_back(new CommandSiiWrite());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	270	commandList.push_back(new CommandSlaves());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	271	commandList.push_back(new CommandStates());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	272	commandList.push_back(new CommandUpload());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	273	commandList.push_back(new CommandXml());
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	274
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	275	getOptions(argc, argv);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	276
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	277	matchingCommands = getMatchingCommands(commandName);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	278	masterDev.setIndex(masterIndex);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	279
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	280	if (matchingCommands.size()) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	281	if (matchingCommands.size() == 1) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	282	cmd = matchingCommands.front();
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	283	if (!helpRequested) {
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	284	try {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	285	cmd->setVerbosity(verbosity);
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	286	cmd->setAlias(slaveAlias);
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	287	cmd->setPosition(slavePosition);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	288	cmd->execute(masterDev, commandArgs);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	289	} catch (InvalidUsageException &e) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	290	cerr << e.what() << endl << endl;
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	291	cerr << binaryBaseName << " " << cmd->helpString();
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	292	retval = 1;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	293	} catch (CommandException &e) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	294	cerr << e.what() << endl;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	295	retval = 1;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	296	} catch (MasterDeviceException &e) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	297	cerr << e.what() << endl;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	298	retval = 1;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	299	}
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	300	} else {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	301	cout << binaryBaseName << " " << cmd->helpString();
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	302	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	303	} else {
1128 b69b2c850160 Fixed typos. Florian Pose <fp@igh-essen.com> parents: 1127 diff changeset	304	cerr << "Ambiguous command abbreviation! Matching:" << endl;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	305	for (ci = matchingCommands.begin();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	306	ci != matchingCommands.end();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	307	ci++) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: 1139 diff changeset	308	cerr << (*ci)->getName() << endl;
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	309	}
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	310	cerr << endl << usage();
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	311	retval = 1;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	312	}
1125 9976f7b9fe66 Command abbreviation. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	313	} else {
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	314	cerr << "Unknown command " << commandName << "!" << endl
7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	315	<< endl << usage();
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	316	retval = 1;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	319	return retval;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 28 Jul 2008 11:29:28 +0000
changeset 1157	04d1c950cf9d
parent 1151	1fc1535dec29
child 1158	f65164fa4a58
permissions	-rw-r--r--