author | Florian Pose <fp@igh-essen.com> |
Thu, 24 Jul 2008 07:40:45 +0000 | |
changeset 1139 | 074caa25365e |
parent 1137 | a73c0f54be42 |
permissions | -rw-r--r-- |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1 |
/***************************************************************************** |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
2 |
* |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
3 |
* $Id$ |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
4 |
* |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
5 |
****************************************************************************/ |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
6 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
7 |
#include <iostream> |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
8 |
using namespace std; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
9 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
10 |
#include "globals.h" |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
11 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
12 |
/****************************************************************************/ |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
13 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
14 |
const char *help_states = |
1137
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
15 |
"[OPTIONS] <STATE>\n" |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
16 |
"\n" |
1137
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
17 |
"Request an application-layer state change for the specified slaves.\n" |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
18 |
"\n" |
1137
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
19 |
"Arguments:\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
20 |
" STATE can be 'INIT', 'PREOP', 'SAFEOP', or 'OP'\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
21 |
"\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
22 |
"Command-specific options:\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
23 |
" --slave -s <index> Positive numerical ring position, or 'all' for\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
24 |
" all slaves (default).\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
25 |
"\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
26 |
"Numerical values can be specified either with decimal (no prefix),\n" |
a73c0f54be42
Added command-line help for every ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
1136
diff
changeset
|
27 |
"octal (prefix '0') or hexadecimal (prefix '0x') base.\n"; |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
28 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
29 |
/****************************************************************************/ |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
30 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
31 |
void command_states(void) |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
32 |
{ |
1136
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1130
diff
changeset
|
33 |
stringstream err; |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
34 |
string stateStr; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
35 |
uint8_t state; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
36 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
37 |
if (commandArgs.size() != 1) { |
1136
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1130
diff
changeset
|
38 |
err << "'" << commandName << "' takes exactly one argument!"; |
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1130
diff
changeset
|
39 |
throw InvalidUsageException(err); |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
40 |
} |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
41 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
42 |
stateStr = commandArgs[0]; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
43 |
transform(stateStr.begin(), stateStr.end(), |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
44 |
stateStr.begin(), (int (*) (int)) std::toupper); |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
45 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
46 |
if (stateStr == "INIT") { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
47 |
state = 0x01; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
48 |
} else if (stateStr == "PREOP") { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
49 |
state = 0x02; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
50 |
} else if (stateStr == "SAFEOP") { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
51 |
state = 0x04; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
52 |
} else if (stateStr == "OP") { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
53 |
state = 0x08; |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
54 |
} else { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
55 |
err << "Invalid state '" << commandArgs[0] << "'!"; |
1136
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1130
diff
changeset
|
56 |
throw InvalidUsageException(err); |
1126
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
57 |
} |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
58 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
59 |
masterDev.open(MasterDevice::ReadWrite); |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
60 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
61 |
if (slavePosition == -1) { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
62 |
unsigned int i, numSlaves = masterDev.slaveCount(); |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
63 |
for (i = 0; i < numSlaves; i++) |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
64 |
masterDev.requestState(i, state); |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
65 |
} else { |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
66 |
masterDev.requestState(slavePosition, state); |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
67 |
} |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
68 |
} |
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
69 |
|
b09fd81894cb
Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
70 |
/*****************************************************************************/ |