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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 "CommandData.h"

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#include "MasterDevice.h"

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

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CommandData::CommandData():

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    Command("data", "Output binary domain process data.")

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{

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}

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

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string CommandData::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS]" << endl

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        << endl

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        << getBriefDescription() << endl

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        << endl

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        << "Data of multiple domains are concatenated." << endl

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        << endl

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

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        << "  --domain -d <index>  Positive numerical domain index." << endl

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        << "                       If omitted, data of all domains" << endl

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        << "                       are output." << 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 CommandData::execute(const StringVector &args)

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{

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    DomainList domains;

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    DomainList::const_iterator di;

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    if (args.size()) {

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        stringstream err;

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        err << "'" << getName() << "' takes no arguments!";

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        throwInvalidUsageException(err);

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    }

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    MasterIndexList::const_iterator mi;

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    for (mi = getMasterIndices().begin();

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            mi != getMasterIndices().end(); mi++) {

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        MasterDevice m(*mi);

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        m.open(MasterDevice::Read);

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        domains = selectedDomains(m);

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        for (di = domains.begin(); di != domains.end(); di++) {

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            outputDomainData(m, *di);

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        }

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    }

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}

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

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void CommandData::outputDomainData(

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        MasterDevice &m,

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        const ec_ioctl_domain_t &domain

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        )

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{

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    ec_ioctl_domain_data_t data;

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    unsigned char *processData;

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    unsigned int i;

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    if (!domain.data_size)

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        return;

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    processData = new unsigned char[domain.data_size];

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    try {

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        m.getData(&data, domain.index, domain.data_size, processData);

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    } catch (MasterDeviceException &e) {

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        delete [] processData;

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        throw e;

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    }

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    for (i = 0; i < data.data_size; i++)

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        cout << processData[i];

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    cout.flush();

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    delete [] processData;

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}

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