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 <iostream>

    31

#include <iomanip>

    32

using namespace std;

    33

    34

#include "CommandSoeWrite.h"

    35

#include "MasterDevice.h"

    36

    37

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

    38

    39

CommandSoeWrite::CommandSoeWrite():

    40

    SoeCommand("soe_write", "Write an SoE IDN to a slave.")

    41

{

    42

}

    43

    44

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

    45

    46

string CommandSoeWrite::helpString() const

    47

{

    48

    stringstream str;

    49

    50

    str << getName() << " [OPTIONS] <IDN> <VALUE>" << endl

    51

        << endl

    52

        << getBriefDescription() << endl

    53

        << endl

    54

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

    55

        << endl

    56

        << "Arguments:" << endl

    57

        << "  IDN      is the IDN and must be either an unsigned" << endl

    58

        << "           16 bit number acc. to IEC 61800-7-204:" << endl

    59

        << "             Bit 15: (0) Standard data, (1) Product data" << endl

    60

        << "             Bit 14 - 12: Parameter set (0 - 7)" << endl

    61

        << "             Bit 11 - 0: Data block number" << endl

    62

        << "           or a string like 'P-0-150'." << endl

    63

        << "  VALUE    is the value to write and is interpreted" << endl

    64

        << "           as the given datatype (see above)." << endl

    65

		<< endl

    66

		<< typeInfo()

    67

        << endl

    68

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

    69

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

    70

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

    71

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

    72

        << "  --type     -t <type>   Data type (see above)." << endl

    73

        << endl

    74

        << numericInfo();

    75

    76

    return str.str();

    77

}

    78

    79

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

    80

    81

void CommandSoeWrite::execute(const StringVector &args)

    82

{

    84

    stringstream strIdn, err;

    85

    const DataType *dataType = NULL;

    86

    ec_ioctl_slave_soe_write_t ioctl;

    87

    SlaveList slaves;

    88

    size_t memSize;

    89

    90

    if (args.size() != 2) {

    91

        err << "'" << getName() << "' takes 2 arguments!";

    92

        throwInvalidUsageException(err);

    93

    }

    94

    95

    try {

    96

        ioctl.idn = parseIdn(args[0]);

    97

    } catch (runtime_error &e) {

    98

        err << "Invalid IDN '" << args[0] << "': " << e.what();

    99

        throwInvalidUsageException(err);

   100

    }

   101

   104

        err << getName() << " requires to select a single master!";

   105

        throwInvalidUsageException(err);

   106

    }

   108

    m.open(MasterDevice::ReadWrite);

   109

    slaves = selectedSlaves(m);

   110

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

   111

        throwSingleSlaveRequired(slaves.size());

   112

    }

   113

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

   114

   115

    if (!getDataType().empty()) { // data type specified

   116

        if (!(dataType = findDataType(getDataType()))) {

   117

            err << "Invalid data type '" << getDataType() << "'!";

   118

            throwInvalidUsageException(err);

   119

        }

   120

    } else { // no data type specified

   121

        err << "Please specify a data type.";

   122

        throwInvalidUsageException(err); // FIXME read from stream

   123

    }

   124

   125

    if (dataType->byteSize) {

   126

        memSize = dataType->byteSize;

   127

    } else {

   128

        // guess string type size

   129

        memSize = args[1].size() + 1;

   130

        if (!memSize) {

   131

            err << "Empty argument not allowed.";

   132

            throwInvalidUsageException(err);

   133

        }

   134

    }

   135

   136

    ioctl.data = new uint8_t[memSize];

   137

   138

    try {

   139

        ioctl.data_size = interpretAsType(

   140

                dataType, args[1], ioctl.data, memSize);

   141

    } catch (SizeException &e) {

   142

        delete [] ioctl.data;

   143

        throwCommandException(e.what());

   144

    } catch (ios::failure &e) {

   145

        delete [] ioctl.data;

   146

        err << "Invalid value argument '" << args[1]

   147

            << "' for type '" << dataType->name << "'!";

   148

        throwInvalidUsageException(err);

   149

    }

   150

   151

    try {

   152

        m.writeSoe(&ioctl);

   153

    } catch (MasterDeviceSoeException &e) {

   154

        delete [] ioctl.data;

   155

        err << "SoE write command aborted with code 0x"

   156

            << setfill('0') << hex << setw(4) << e.errorCode << ".";

   157

        throwCommandException(err);

   158

    } catch (MasterDeviceException &e) {

   159

        delete [] ioctl.data;

   160

        throw e;

   161

    }

   162

   163

    delete [] ioctl.data;

   164

}

   165

   166

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