author | Florian Pose <fp@igh-essen.com> |
Fri, 08 Jan 2010 13:13:50 +0100 | |
changeset 1614 | 2f362d2b6d6e |
parent 1363 | 11c0b2caa253 |
child 1826 | ec6223c3b7ec |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
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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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#include <algorithm> |
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using namespace std; |
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#include "CommandStates.h" |
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/*****************************************************************************/ |
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CommandStates::CommandStates(): |
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Command("states", "Request application-layer states.") |
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{ |
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} |
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/*****************************************************************************/ |
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string CommandStates::helpString() const |
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{ |
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stringstream str; |
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str << getName() << " [OPTIONS] <STATE>" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
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<< "Arguments:" << endl |
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<< " STATE can be 'INIT', 'PREOP', 'BOOT', 'SAFEOP', or 'OP'." << endl |
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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" << endl |
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<< " the 'slaves' command." << 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 CommandStates::execute(MasterDevice &m, const StringVector &args) |
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{ |
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SlaveList slaves; |
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SlaveList::const_iterator si; |
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stringstream err; |
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string stateStr; |
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uint8_t state = 0x00; |
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if (args.size() != 1) { |
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err << "'" << getName() << "' takes exactly one argument!"; |
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throwInvalidUsageException(err); |
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} |
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stateStr = args[0]; |
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transform(stateStr.begin(), stateStr.end(), |
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stateStr.begin(), (int (*) (int)) std::toupper); |
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if (stateStr == "INIT") { |
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state = 0x01; |
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} else if (stateStr == "PREOP") { |
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state = 0x02; |
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} else if (stateStr == "BOOT") { |
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state = 0x03; |
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} else if (stateStr == "SAFEOP") { |
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state = 0x04; |
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} else if (stateStr == "OP") { |
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state = 0x08; |
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} else { |
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err << "Invalid state '" << args[0] << "'!"; |
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throwInvalidUsageException(err); |
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} |
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m.open(MasterDevice::ReadWrite); |
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slaves = selectedSlaves(m); |
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if (!slaves.size() && getVerbosity() != Quiet) { |
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cerr << "Warning: Selection matches no slaves!" << endl; |
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} |
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for (si = slaves.begin(); si != slaves.end(); si++) { |
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m.requestState(si->position, state); |
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} |
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} |
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/*****************************************************************************/ |