1

/*****************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 ****************************************************************************/

    29

    30

#include <libgen.h> // basename()

    31

#include <string.h>

    32

    33

#include <iostream>

    34

#include <iomanip>

    35

#include <fstream>

    36

using namespace std;

    37

    38

#include "CommandFoeWrite.h"

    39

#include "foe.h"

    40

#include "MasterDevice.h"

    41

    42

/*****************************************************************************/

    43

    44

CommandFoeWrite::CommandFoeWrite():

    45

    FoeCommand("foe_write", "Store a file on a slave via FoE.")

    46

{

    47

}

    48

    49

/*****************************************************************************/

    50

    51

string CommandFoeWrite::helpString(const string &binaryBaseName) const

    52

{

    53

    stringstream str;

    54

    55

    str << binaryBaseName << " " << getName()

    56

        << " [OPTIONS] <FILENAME>" << endl

    57

        << endl

    58

        << getBriefDescription() << endl

    59

        << endl

    60

        << "This command requires a single slave to be selected." << endl

    61

        << endl

    62

        << "Arguments:" << endl

    63

        << "  FILENAME can either be a path to a file, or '-'. In" << endl

    64

        << "           the latter case, data are read from stdin and" << endl

    65

        << "           the --output-file option has to be specified." << endl

    66

        << endl

    67

        << "Command-specific options:" << endl

    68

        << "  --output-file -o <file>   Target filename on the slave." << endl

    69

        << "                            If the FILENAME argument is" << endl

    70

        << "                            '-', this is mandatory." << endl

    71

        << "                            Otherwise, the basename() of" << endl

    72

        << "                            FILENAME is used by default." << endl

    73

        << "  --alias       -a <alias>" << endl

    74

        << "  --position    -p <pos>    Slave selection. See the help" << endl

    75

        << "                            of the 'slaves' command." << endl

    76

        << endl

    77

        << numericInfo();

    78

    79

    return str.str();

    80

}

    81

    82

/****************************************************************************/

    83

    84

void CommandFoeWrite::execute(const StringVector &args)

    85

{

    86

    stringstream err;

    87

    ec_ioctl_slave_foe_t data;

    88

    ifstream file;

    89

    SlaveList slaves;

    90

    string storeFileName;

    91

    92

    if (args.size() != 1) {

    93

        err << "'" << getName() << "' takes exactly one argument!";

    94

        throwInvalidUsageException(err);

    95

    }

    96

    97

    if (args[0] == "-") {

    98

        loadFoeData(&data, cin);

    99

        if (getOutputFile().empty()) {

   100

            err << "Please specify a filename for the slave side"

   101

                << " with --output-file!";

   102

            throwCommandException(err);

   103

        } else {

   104

            storeFileName = getOutputFile();

   105

        }

   106

    } else {

   107

        file.open(args[0].c_str(), ifstream::in | ifstream::binary);

   108

        if (file.fail()) {

   109

            err << "Failed to open '" << args[0] << "'!";

   110

            throwCommandException(err);

   111

        }

   112

        loadFoeData(&data, file);

   113

        file.close();

   114

        if (getOutputFile().empty()) {

   115

            char *cpy = strdup(args[0].c_str()); // basename can modify

   116

                                                 // the string contents

   117

            storeFileName = basename(cpy);

   118

            free(cpy);

   119

        } else {

   120

            storeFileName = getOutputFile();

   121

        }

   122

    }

   123

   124

    MasterDevice m(getSingleMasterIndex());

   125

    try {

   126

        m.open(MasterDevice::ReadWrite);

   127

    } catch (MasterDeviceException &e) {

   128

        if (data.buffer_size)

   129

            delete [] data.buffer;

   130

        throw e;

   131

    }

   132

   133

    slaves = selectedSlaves(m);

   134

    if (slaves.size() != 1) {

   135

        if (data.buffer_size)

   136

            delete [] data.buffer;

   137

        throwSingleSlaveRequired(slaves.size());

   138

    }

   139

    data.slave_position = slaves.front().position;

   140

   141

    // write data via foe to the slave

   142

    data.offset = 0;

   143

    strncpy(data.file_name, storeFileName.c_str(), sizeof(data.file_name)-1);

   144

    data.file_name[sizeof(data.file_name)-1] = '\0';

   145

   146

    try {

   147

        m.writeFoe(&data);

   148

    } catch (MasterDeviceException &e) {

   149

        if (data.buffer_size)

   150

            delete [] data.buffer;

   151

        if (data.result) {

   152

            if (data.result == FOE_OPCODE_ERROR) {

   153

                err << "FoE write aborted with error code 0x"

   154

                    << setw(8) << setfill('0') << hex << data.error_code

   155

                    << ": " << errorText(data.error_code);

   156

            } else {

   157

                err << "Failed to write via FoE: "

   158

                    << resultText(data.result);

   159

            }

   160

            throwCommandException(err);

   161

        } else {

   162

            throw e;

   163

        }

   164

    }

   165

   166

    if (getVerbosity() == Verbose) {

   167

        cerr << "FoE writing finished." << endl;

   168

    }

   169

   170

    if (data.buffer_size)

   171

        delete [] data.buffer;

   172

}

   173

   174

/*****************************************************************************/

   175

   176

void CommandFoeWrite::loadFoeData(

   177

        ec_ioctl_slave_foe_t *data,

   178

        const istream &in

   179

        )

   180

{

   181

    stringstream err;

   182

    ostringstream tmp;

   183

   184

    tmp << in.rdbuf();

   185

    string const &contents = tmp.str();

   186

   187

    if (getVerbosity() == Verbose) {

   188

        cerr << "Read " << contents.size() << " bytes of FoE data." << endl;

   189

    }

   190

   191

    data->buffer_size = contents.size();

   192

   193

    if (data->buffer_size) {

   194

        // allocate buffer and read file into buffer

   195

        data->buffer = new uint8_t[data->buffer_size];

   196

        contents.copy((char *) data->buffer, contents.size());

   197

    }

   198

}

   199

   200

/*****************************************************************************/