etherlabmaster: tools/main.cpp@1cfab7161491 (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <getopt.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	8
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <iostream>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <string>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	12
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include "Master.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	14
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	16
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	#define DEFAULT_MASTER 0
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	#define DEFAULT_COMMAND "slaves"
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	19	#define DEFAULT_SLAVEPOSITION -1
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	20	#define DEFAULT_DOMAININDEX -1
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	static unsigned int masterIndex = DEFAULT_MASTER;
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	23	static int slavePosition = DEFAULT_SLAVEPOSITION;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	24	static int domainIndex = DEFAULT_DOMAININDEX;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	static string command = DEFAULT_COMMAND;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	26
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	28
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	void printUsage()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	cerr
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	<< "Commands:" << endl
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	34	<< " domain Show domain information." << endl
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	<< " list (ls, slaves) List all slaves (former 'lsec')." << endl
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	36	<< " pdos List Pdo mapping of given slaves." << endl
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	37	<< " xml Generate slave information xml." << endl
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	<< "Global options:" << endl
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	<< " --master -m <master> Index of the master to use. Default: "
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	<< DEFAULT_MASTER << endl
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	41	<< " --slave -s <index> Positive numerical ring position,"
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	42	<< endl
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	43	<< " or 'all' for all slaves. Default: 'all'."
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	44	<< endl
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	45	<< " --domain -d <index> Positive numerical index,"
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	46	<< endl
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	47	<< " or 'all' for all domains. Default: "
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	48	<< "'all'." << endl
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	<< " --help -h Show this help." << endl;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	51
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	/*****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	53
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void getOptions(int argc, char **argv)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	int c, argCount, optionIndex, number;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	char *remainder;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	static struct option longOptions[] = {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	//name, has_arg, flag, val
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	{"master", required_argument, NULL, 'm'},
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	{"slave", required_argument, NULL, 's'},
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	63	{"domain", required_argument, NULL, 'd'},
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	{"help", no_argument, NULL, 'h'},
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	{}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	};
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	67
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	do {
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	69	c = getopt_long(argc, argv, "m:s:d:h", longOptions, &optionIndex);
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	switch (c) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	case 'm':
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	number = strtoul(optarg, &remainder, 0);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	if (remainder == optarg \|\| *remainder \|\| number < 0) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	cerr << "Invalid master number " << optarg << "!" << endl;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	printUsage();
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	exit(1);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	masterIndex = number;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	break;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	case 's':
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	83	if (!strcmp(optarg, "all")) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	84	slavePosition = -1;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	85	} else {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	86	number = strtoul(optarg, &remainder, 0);
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	87	if (remainder == optarg \|\| *remainder
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	88	\|\| number < 0 \|\| number > 0xFFFF) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	89	cerr << "Invalid slave position "
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	90	<< optarg << "!" << endl;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	91	printUsage();
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	92	exit(1);
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	93	}
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	94	slavePosition = number;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	95	}
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	break;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	97
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	98	case 'd':
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	99	if (!strcmp(optarg, "all")) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	100	domainIndex = -1;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	101	} else {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	102	number = strtoul(optarg, &remainder, 0);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	103	if (remainder == optarg \|\| *remainder \|\| number < 0) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	104	cerr << "Invalid domain index "
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	105	<< optarg << "!" << endl;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	106	printUsage();
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	107	exit(1);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	108	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	109	domainIndex = number;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	110	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	111	break;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	112
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	case 'h':
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	case '?':
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	printUsage();
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	exit(0);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	117
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	default:
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	break;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	while (c != -1);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	123
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	argCount = argc - optind;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	125
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	if (!argCount) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	cerr << "Please specify a command!" << endl;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	printUsage();
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	exit(1);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	131
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	command = argv[optind];
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	int main(int argc, char **argv)
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	Master master;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	140
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	getOptions(argc, argv);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	143	try {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	144	master.open(masterIndex);
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	145
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	146	if (command == "domain") {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	147	master.showDomains(domainIndex);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	148	} else if (command == "list" \|\| command == "ls" \|\| command == "slaves") {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	149	master.listSlaves();
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	150	} else if (command == "pdos") {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	151	master.listPdos(slavePosition);
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	152	} else if (command == "xml") {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	153	master.generateXml(slavePosition);
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	154	} else {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	155	cerr << "Unknown command " << command << "!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	156	printUsage();
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	157	exit(1);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	158	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	159	} catch (MasterException &e) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	160	cerr << e.what() << endl;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	exit(1);
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	163
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	return 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	166
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 04 Jun 2008 10:13:07 +0000
changeset 948	1cfab7161491
parent 938	5b936e8e39fa
child 949	e424c0074c67
permissions	-rw-r--r--