author | Florian Pose <fp@igh.de> |
Fri, 08 Sep 2017 13:16:57 +0200 | |
branch | stable-1.5 |
changeset 2683 | 1079c149f22c |
parent 2529 | c7e1f2616a9d |
permissions | -rw-r--r-- |
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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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||
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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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||
1968
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
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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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||
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4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
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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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reg_write with data types.
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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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|
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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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131 |
|
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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; |
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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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} |
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if ((uint32_t) io.address + io.size > 0xffff) { |
2c3ccdde3919
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err << "Address and size exceeding 64k!"; |
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delete [] io.data; |
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throwInvalidUsageException(err); |
152 |
} |
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Added getSingleMasterIndex() for command-line tool.
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MasterDevice m(getSingleMasterIndex()); |
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try { |
156 |
m.open(MasterDevice::ReadWrite); |
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} catch (MasterDeviceException &e) { |
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158 |
delete [] io.data; |
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throw e; |
160 |
} |
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||
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162 |
if (getEmergency()) { |
c7e1f2616a9d
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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 { |
c7e1f2616a9d
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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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171 |
} |
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172 |
io.slave_position = slaves.front().position; |
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173 |
io.emergency = false; |
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174 |
} |
1388 | 175 |
|
176 |
// send data to master |
|
177 |
try { |
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178 |
m.writeReg(&io); |
1388 | 179 |
} catch (MasterDeviceException &e) { |
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|
180 |
delete [] io.data; |
1388 | 181 |
throw e; |
182 |
} |
|
183 |
||
184 |
if (getVerbosity() == Verbose) { |
|
185 |
cerr << "Register writing finished." << endl; |
|
186 |
} |
|
187 |
||
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188 |
delete [] io.data; |
1388 | 189 |
} |
190 |
||
191 |
/*****************************************************************************/ |
|
192 |
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193 |
void CommandRegWrite::loadRegData( |
|
2443
2c3ccdde3919
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|
194 |
ec_ioctl_slave_reg_t *io, |
1388 | 195 |
const istream &in |
196 |
) |
|
197 |
{ |
|
198 |
stringstream err; |
|
199 |
ostringstream tmp; |
|
200 |
||
201 |
tmp << in.rdbuf(); |
|
202 |
string const &contents = tmp.str(); |
|
203 |
||
204 |
if (getVerbosity() == Verbose) { |
|
205 |
cerr << "Read " << contents.size() << " bytes of data." << endl; |
|
206 |
} |
|
207 |
||
208 |
if (contents.size() > 0xffff) { |
|
209 |
err << "Invalid data size " << contents.size() << "!"; |
|
210 |
throwInvalidUsageException(err); |
|
211 |
} |
|
2443
2c3ccdde3919
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|
212 |
io->size = contents.size(); |
1388 | 213 |
|
214 |
// allocate buffer and read file into buffer |
|
2443
2c3ccdde3919
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|
215 |
io->data = new uint8_t[io->size]; |
2c3ccdde3919
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|
216 |
contents.copy((char *) io->data, contents.size()); |
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217 |
} |
2c3ccdde3919
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|
218 |
|
2c3ccdde3919
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|
219 |
/*****************************************************************************/ |