tool/CommandRegWrite.cpp
author Florian Pose <fp@igh-essen.com>
Wed, 05 Nov 2014 15:06:54 +0100
changeset 2590 0e207abed88a
parent 2589 2b9c78543663
permissions -rw-r--r--
Made some throw methods static.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  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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#include <iomanip>
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#include <fstream>
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using namespace std;
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#include "CommandRegWrite.h"
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#include "sii_crc.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandRegWrite::CommandRegWrite():
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    Command("reg_write", "Write data to a slave's registers.")
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{
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}
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/*****************************************************************************/
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string CommandRegWrite::helpString(const string &binaryBaseName) const
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{
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    stringstream str;
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    str << binaryBaseName << " " << getName()
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        << " [OPTIONS] <OFFSET> <DATA>" << 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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        << "  ADDRESS is the register address to write to." << endl
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        << "  DATA    depends on whether a datatype was specified" << endl
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        << "          with the --type option: If not, DATA must be" << endl
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        << "          either a path to a file with data to write," << endl
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        << "          or '-', which means, that data are read from" << endl
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        << "          stdin. If a datatype was specified, VALUE is" << endl
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        << "          interpreted respective to the given type." << 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"
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        << 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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        << "  --emergency -e          Send as emergency request." << 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 CommandRegWrite::execute(const StringVector &args)
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{
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    stringstream strOffset, err;
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    ec_ioctl_slave_reg_t io;
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    ifstream file;
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    if (args.size() != 2) {
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        err << "'" << getName() << "' takes exactly two arguments!";
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        throwInvalidUsageException(err);
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    }
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    strOffset << args[0];
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    strOffset
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        >> resetiosflags(ios::basefield) // guess base from prefix
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        >> io.address;
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    if (strOffset.fail()) {
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        err << "Invalid address '" << args[0] << "'!";
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        throwInvalidUsageException(err);
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    }
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    if (getDataType().empty()) {
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        if (args[1] == "-") {
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            loadRegData(&io, cin);
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        } else {
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            file.open(args[1].c_str(), ifstream::in | ifstream::binary);
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            if (file.fail()) {
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                err << "Failed to open '" << args[1] << "'!";
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                throwCommandException(err);
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            }
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            loadRegData(&io, file);
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            file.close();
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        }
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    } else {
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        stringstream strValue;
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        const DataType *dataType = findDataType(getDataType());
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        if (!dataType) {
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            err << "Invalid data type '" << getDataType() << "'!";
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            throwInvalidUsageException(err);
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        }
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        if (dataType->byteSize) {
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            io.size = dataType->byteSize;
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        } else {
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            io.size = 1024; // FIXME
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        }
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        io.data = new uint8_t[io.size];
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        try {
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            io.size = interpretAsType(
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                    dataType, args[1], io.data, io.size);
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        } catch (SizeException &e) {
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            delete [] io.data;
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            throwCommandException(e.what());
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        } catch (ios::failure &e) {
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            delete [] io.data;
1804
742607c464c4 Removed tabulators.
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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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   146
    }
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   148
    if ((uint32_t) io.address + io.size > 0xffff) {
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   149
        err << "Address and size exceeding 64k!";
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        delete [] io.data;
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        throwInvalidUsageException(err);
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    }
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1870
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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    MasterDevice m(getSingleMasterIndex());
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    try {
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        m.open(MasterDevice::ReadWrite);
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    } catch (MasterDeviceException &e) {
2589
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   158
        delete [] io.data;
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        throw e;
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    }
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2b9c78543663 Reverted default branch to stable-1.5.
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   162
    if (getEmergency()) {
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   163
        io.slave_position = emergencySlave();
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   164
        io.emergency = true;
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   165
    }
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   166
    else {
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   167
        SlaveList slaves = selectedSlaves(m);
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   168
        if (slaves.size() != 1) {
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   169
            delete [] io.data;
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   170
            throwSingleSlaveRequired(slaves.size());
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parents: 1968
diff changeset
   171
        }
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   172
        io.slave_position = slaves.front().position;
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   173
        io.emergency = false;
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diff changeset
   174
    }
1388
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parents:
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   175
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   176
    // send data to master
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parents:
diff changeset
   177
    try {
2589
2b9c78543663 Reverted default branch to stable-1.5.
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parents: 1968
diff changeset
   178
        m.writeReg(&io);
1388
3c886ec376f5 Renamed phy_ commands to reg_.
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   179
    } catch (MasterDeviceException &e) {
2589
2b9c78543663 Reverted default branch to stable-1.5.
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diff changeset
   180
        delete [] io.data;
1388
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   181
        throw e;
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   182
    }
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parents:
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   183
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parents:
diff changeset
   184
    if (getVerbosity() == Verbose) {
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parents:
diff changeset
   185
        cerr << "Register writing finished." << endl;
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parents:
diff changeset
   186
    }
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parents:
diff changeset
   187
2589
2b9c78543663 Reverted default branch to stable-1.5.
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parents: 1968
diff changeset
   188
    delete [] io.data;
1388
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parents:
diff changeset
   189
}
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   190
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parents:
diff changeset
   191
/*****************************************************************************/
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   192
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parents:
diff changeset
   193
void CommandRegWrite::loadRegData(
2589
2b9c78543663 Reverted default branch to stable-1.5.
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parents: 1968
diff changeset
   194
        ec_ioctl_slave_reg_t *io,
1388
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   195
        const istream &in
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parents:
diff changeset
   196
        )
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   197
{
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   198
    stringstream err;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   199
    ostringstream tmp;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   200
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   201
    tmp << in.rdbuf();
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   202
    string const &contents = tmp.str();
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   203
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   204
    if (getVerbosity() == Verbose) {
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   205
        cerr << "Read " << contents.size() << " bytes of data." << endl;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   206
    }
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   207
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   208
    if (contents.size() > 0xffff) {
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
        err << "Invalid data size " << contents.size() << "!";
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   210
        throwInvalidUsageException(err);
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   211
    }
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   212
    io->size = contents.size();
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
    // allocate buffer and read file into buffer
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   215
    io->data = new uint8_t[io->size];
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   216
    contents.copy((char *) io->data, contents.size());
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   217
}
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   218
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents: 1968
diff changeset
   219
/*****************************************************************************/