tool/CommandData.cpp
author Florian Pose <fp@igh-essen.com>
Tue, 05 May 2009 08:15:02 +0000
changeset 1441 27a8d6f97a95
parent 1373 e651000f1ff1
child 1804 742607c464c4
permissions -rw-r--r--
Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
S. Weiser.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  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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using namespace std;
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#include "CommandData.h"
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/*****************************************************************************/
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CommandData::CommandData():
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    Command("data", "Output binary domain process data.")
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{
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}
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/*****************************************************************************/
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string CommandData::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS]" << endl
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    	<< endl
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    	<< getBriefDescription() << endl
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        << endl
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        << "Data of multiple domains are concatenated." << endl
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    	<< endl
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    	<< "Command-specific options:" << endl
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    	<< "  --domain -d <index>  Positive numerical domain index." << endl
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    	<< "                       If omitted, data of all domains" << endl
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    	<< "                       are output." << 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 CommandData::execute(MasterDevice &m, const StringVector &args)
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{
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	DomainList domains;
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	DomainList::const_iterator di;
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    if (args.size()) {
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        stringstream err;
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        err << "'" << getName() << "' takes no arguments!";
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        throwInvalidUsageException(err);
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    }
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    m.open(MasterDevice::Read);
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	domains = selectedDomains(m);
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	for (di = domains.begin(); di != domains.end(); di++) {
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		outputDomainData(m, *di);
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	}
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}
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/****************************************************************************/
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void CommandData::outputDomainData(
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		MasterDevice &m,
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		const ec_ioctl_domain_t &domain
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		)
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{
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    ec_ioctl_domain_data_t data;
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    unsigned char *processData;
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    unsigned int i;
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    if (!domain.data_size)
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        return;
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    processData = new unsigned char[domain.data_size];
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    try {
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        m.getData(&data, domain.index, domain.data_size, processData);
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    } catch (MasterDeviceException &e) {
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        delete [] processData;
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        throw e;
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    }
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    for (i = 0; i < data.data_size; i++)
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        cout << processData[i];
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    cout.flush();
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    delete [] processData;
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}
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/****************************************************************************/