tool/CommandRegWrite.cpp
author Florian Pose <fp@igh-essen.com>
Tue, 23 Feb 2010 13:18:31 +0100
changeset 1821 40321a37d085
parent 1804 742607c464c4
child 1826 ec6223c3b7ec
permissions -rw-r--r--
merge
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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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#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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/*****************************************************************************/
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CommandRegWrite::CommandRegWrite():
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    CommandReg("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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string CommandRegWrite::helpString() const
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{
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    stringstream str;
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    str << getName() << " [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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        << "  OFFSET  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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        << "These are the valid data types:" << endl
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        << "  int8, int16, int32, int64, uint8, uint16, uint32," << endl
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        << "  uint64, string." << 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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        << "  --type     -t <type>   Data type (see above)." << 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(MasterDevice &m, const StringVector &args)
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{
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    stringstream strOffset, err;
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    ec_ioctl_slave_reg_t data;
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    ifstream file;
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    SlaveList slaves;
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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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        >> data.offset;
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    if (strOffset.fail()) {
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        err << "Invalid offset '" << 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(&data, 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(&data, 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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        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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        if (dataType->byteSize) {
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            data.length = dataType->byteSize;
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            data.data = new uint8_t[data.length];
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        }
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        strValue << args[1];
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        strValue >> resetiosflags(ios::basefield); // guess base from prefix
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        strValue.exceptions(ios::failbit);
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        try {
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            if (string(dataType->name) == "int8") {
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                int16_t val; // uint8_t is interpreted as char
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                strValue >> val;
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                if (val > 127 || val < -128)
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                    throw ios::failure("Value out of range");
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                *data.data = (int8_t) val;
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            } else if (string(dataType->name) == "int16") {
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                int16_t val;
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                strValue >> val;
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                *(int16_t *) data.data = cpu_to_le16(val);
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            } else if (string(dataType->name) == "int32") {
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   146
                int32_t val;
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   147
                strValue >> val;
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   148
                *(int32_t *) data.data = cpu_to_le32(val);
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   149
            } else if (string(dataType->name) == "int64") {
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   150
                int64_t val;
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   151
                strValue >> val;
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   152
                *(int64_t *) data.data = cpu_to_le64(val);
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   153
            } else if (string(dataType->name) == "uint8") {
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   154
                uint16_t val; // uint8_t is interpreted as char
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   155
                strValue >> val;
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   156
                if (val > 0xff)
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   157
                    throw ios::failure("Value out of range");
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   158
                *data.data = (uint8_t) val;
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diff changeset
   159
            } else if (string(dataType->name) == "uint16") {
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   160
                uint16_t val;
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   161
                strValue >> val;
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diff changeset
   162
                *(uint16_t *) data.data = cpu_to_le16(val);
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   163
            } else if (string(dataType->name) == "uint32") {
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   164
                uint32_t val;
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   165
                strValue >> val;
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   166
                *(uint32_t *) data.data = cpu_to_le32(val);
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   167
            } else if (string(dataType->name) == "uint64") {
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   168
                uint64_t val;
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   169
                strValue >> val;
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   170
                *(uint64_t *) data.data = cpu_to_le64(val);
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   171
            } else if (string(dataType->name) == "string" ||
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   172
                    string(dataType->name) == "octet_string") {
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   173
                data.length = strValue.str().size();
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   174
                if (!data.length) {
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   175
                    err << "Zero-size string now allowed!";
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   176
                    throwCommandException(err);
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   177
                }
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   178
                data.data = new uint8_t[data.length];
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                strValue >> (char *) data.data;
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   180
            } else {
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   181
                err << "Invalid data type " << dataType->name;
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   182
                throwCommandException(err);
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diff changeset
   183
            }
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   184
        } catch (ios::failure &e) {
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   185
            delete [] data.data;
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   186
            err << "Invalid value argument '" << args[1]
742607c464c4 Removed tabulators.
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   187
                << "' for type '" << dataType->name << "'!";
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   188
            throwInvalidUsageException(err);
742607c464c4 Removed tabulators.
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diff changeset
   189
        }
742607c464c4 Removed tabulators.
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   190
    }
1388
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   191
3c886ec376f5 Renamed phy_ commands to reg_.
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   192
    if ((uint32_t) data.offset + data.length > 0xffff) {
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parents:
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   193
        err << "Offset and length exceeding 64k!";
3c886ec376f5 Renamed phy_ commands to reg_.
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   194
        delete [] data.data;
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   195
        throwInvalidUsageException(err);
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diff changeset
   196
    }
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parents:
diff changeset
   197
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diff changeset
   198
    try {
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   199
        m.open(MasterDevice::ReadWrite);
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   200
    } catch (MasterDeviceException &e) {
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   201
        delete [] data.data;
3c886ec376f5 Renamed phy_ commands to reg_.
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   202
        throw e;
3c886ec376f5 Renamed phy_ commands to reg_.
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diff changeset
   203
    }
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   204
3c886ec376f5 Renamed phy_ commands to reg_.
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   205
    slaves = selectedSlaves(m);
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   206
    if (slaves.size() != 1) {
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   207
        delete [] data.data;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   208
        throwSingleSlaveRequired(slaves.size());
3c886ec376f5 Renamed phy_ commands to reg_.
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diff changeset
   209
    }
3c886ec376f5 Renamed phy_ commands to reg_.
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   210
    data.slave_position = slaves.front().position;
3c886ec376f5 Renamed phy_ commands to reg_.
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diff changeset
   211
3c886ec376f5 Renamed phy_ commands to reg_.
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diff changeset
   212
    // send data to master
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parents:
diff changeset
   213
    try {
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   214
        m.writeReg(&data);
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   215
    } catch (MasterDeviceException &e) {
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   216
        delete [] data.data;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   217
        throw e;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   218
    }
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   219
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   220
    if (getVerbosity() == Verbose) {
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
        cerr << "Register writing finished." << endl;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
    }
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   223
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   224
    delete [] data.data;
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   225
}
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   226
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   227
/*****************************************************************************/
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   228
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   229
void CommandRegWrite::loadRegData(
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   230
        ec_ioctl_slave_reg_t *data,
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   231
        const istream &in
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   232
        )
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   233
{
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   234
    stringstream err;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
    ostringstream tmp;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
    tmp << in.rdbuf();
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
    string const &contents = tmp.str();
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   240
    if (getVerbosity() == Verbose) {
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
        cerr << "Read " << contents.size() << " bytes of data." << endl;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   242
    }
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
    if (contents.size() > 0xffff) {
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
        err << "Invalid data size " << contents.size() << "!";
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
        throwInvalidUsageException(err);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   247
    }
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   248
    data->length = contents.size();
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   249
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   250
    // allocate buffer and read file into buffer
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   251
    data->data = new uint8_t[data->length];
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   252
    contents.copy((char *) data->data, contents.size());
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   253
}
3c886ec376f5 Renamed phy_ commands to reg_.
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parents:
diff changeset
   254
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   255
/*****************************************************************************/