author | Florian Pose <fp@igh-essen.com> |
Tue, 09 Mar 2010 11:43:43 +0100 | |
changeset 1858 | 4d4aa4c0fc1e |
parent 1835 | 20748e9d2238 |
child 1868 | 489ea0becd74 |
permissions | -rw-r--r-- |
1200 | 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 <iomanip> |
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using namespace std; |
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#include "CommandRegRead.h" |
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#include "MasterDevice.h" |
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/*****************************************************************************/ |
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CommandRegRead::CommandRegRead(): |
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Command("reg_read", "Output a slave's register contents.") |
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{ |
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} |
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/*****************************************************************************/ |
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string CommandRegRead::helpString() const |
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{ |
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stringstream str; |
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str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << 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. Must" << endl |
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<< " be an unsigned 16 bit number." << endl |
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<< " LENGTH is the number of bytes to read and must also be" << endl |
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<< " an unsigned 16 bit number. OFFSET plus LENGTH" << endl |
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<< " may not exceed 64k. The length is ignored (and" << endl |
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<< " can be omitted), if a selected data type" << endl |
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<< " implies a length." << 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, raw." << 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 CommandRegRead::execute(const StringVector &args) |
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{ |
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SlaveList slaves; |
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ec_ioctl_slave_reg_t data; |
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stringstream strOffset, err; |
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const DataType *dataType = NULL; |
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if (args.size() < 1 || args.size() > 2) { |
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err << "'" << getName() << "' takes one or 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 (args.size() > 1) { |
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stringstream strLength; |
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strLength << args[1]; |
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strLength |
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>> resetiosflags(ios::basefield) // guess base from prefix |
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>> data.length; |
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if (strLength.fail()) { |
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err << "Invalid length '" << args[1] << "'!"; |
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throwInvalidUsageException(err); |
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} |
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if (!data.length) { |
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err << "Length may not be zero!"; |
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throwInvalidUsageException(err); |
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} |
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} else { // no length argument given |
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data.length = 0; |
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} |
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if (!getDataType().empty()) { |
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if (!(dataType = findDataType(getDataType()))) { |
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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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// override length argument |
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data.length = dataType->byteSize; |
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} |
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} |
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if (!data.length) { |
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err << "The length argument is mandatory, if no datatype is " << endl |
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<< "specified, or the datatype does not imply a length!"; |
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throwInvalidUsageException(err); |
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} |
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if ((uint32_t) data.offset + data.length > 0xffff) { |
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err << "Offset and length exceeding 64k!"; |
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throwInvalidUsageException(err); |
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} |
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if (getMasterIndices().size() != 1) { |
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err << getName() << " requires to select a single master!"; |
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throwInvalidUsageException(err); |
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} |
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MasterDevice m(getMasterIndices().front()); |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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if (slaves.size() != 1) { |
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throwSingleSlaveRequired(slaves.size()); |
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} |
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data.slave_position = slaves.front().position; |
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data.data = new uint8_t[data.length]; |
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try { |
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m.readReg(&data); |
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} catch (MasterDeviceException &e) { |
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delete [] data.data; |
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throw e; |
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} |
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try { |
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outputData(cout, dataType, data.data, data.length); |
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} catch (SizeException &e) { |
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delete [] data.data; |
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throwCommandException(e.what()); |
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} |
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delete [] data.data; |
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} |
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/*****************************************************************************/ |