tool/main.cpp
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jan 2012 10:43:56 +0100
branchstable-1.5
changeset 2251 5023ce75fe91
parent 2011 04fdb4abf120
child 2436 960cc1bb6b4a
child 2589 2b9c78543663
permissions -rw-r--r--
Fixed suspend/resume for r8169 drivers.
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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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#include <getopt.h>
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#include <libgen.h> // basename()
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#include <stdlib.h>
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "CommandAlias.h"
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#include "CommandConfig.h"
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#include "CommandCStruct.h"
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#include "CommandData.h"
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#include "CommandDebug.h"
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#include "CommandDomains.h"
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#include "CommandDownload.h"
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#ifdef EC_EOE
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# include "CommandEoe.h"
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#endif
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#include "CommandFoeRead.h"
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#include "CommandFoeWrite.h"
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#include "CommandGraph.h"
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#include "CommandMaster.h"
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#include "CommandPdos.h"
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#include "CommandRegRead.h"
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#include "CommandRegWrite.h"
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#include "CommandRescan.h"
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#include "CommandSdos.h"
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#include "CommandSiiRead.h"
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#include "CommandSiiWrite.h"
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#include "CommandSlaves.h"
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#include "CommandSoeRead.h"
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#include "CommandSoeWrite.h"
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#include "CommandStates.h"
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#include "CommandUpload.h"
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#include "CommandVersion.h"
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#include "CommandXml.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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typedef list<Command *> CommandList;
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CommandList commandList;
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string binaryBaseName;
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string commandName;
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Command::StringVector commandArgs;
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// option variables
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string masters = "-"; // all masters
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string positions = "-"; // all positions
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string aliases = "-"; // all aliases
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string domains = "-"; // all domains
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string dataTypeStr;
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Command::Verbosity verbosity = Command::Normal;
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bool force = false;
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bool helpRequested = false;
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string outputFile;
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/*****************************************************************************/
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string usage()
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{
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    stringstream str;
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    CommandList::const_iterator ci;
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    size_t maxWidth = 0;
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    for (ci = commandList.begin(); ci != commandList.end(); ci++) {
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        if ((*ci)->getName().length() > maxWidth) {
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            maxWidth = (*ci)->getName().length();
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        }
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    }
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    str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
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        << endl << endl
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        << "Commands (can be abbreviated):" << endl;
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    str << left;
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    for (ci = commandList.begin(); ci != commandList.end(); ci++) {
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        str << "  " << setw(maxWidth) << (*ci)->getName()
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            << "  " << (*ci)->getBriefDescription() << endl;
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    }
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    str << endl
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        << "Global options:" << endl
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        << "  --master  -m <master>  Comma separated list of masters" << endl
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        << "                         to select, ranges are allowed." << endl
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        << "                         Examples: '1,3', '5-7,9', '-3'." << endl
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        << "                         Default: '-' (all)."
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        << endl
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        << "  --force   -f           Force a command." << endl
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        << "  --quiet   -q           Output less information." << endl
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        << "  --verbose -v           Output more information." << endl
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        << "  --help    -h           Show this help." << endl
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        << endl
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        << Command::numericInfo()
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        << endl
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        << "Call '" << binaryBaseName
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        << " <COMMAND> --help' for command-specific help." << endl
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        << endl
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        << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
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    return str.str();
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}
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/*****************************************************************************/
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void getOptions(int argc, char **argv)
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{
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    int c, argCount;
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    stringstream str;
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    static struct option longOptions[] = {
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        //name,         has_arg,           flag, val
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        {"master",      required_argument, NULL, 'm'},
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        {"alias",       required_argument, NULL, 'a'},
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        {"position",    required_argument, NULL, 'p'},
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        {"domain",      required_argument, NULL, 'd'},
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        {"type",        required_argument, NULL, 't'},
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        {"output-file", required_argument, NULL, 'o'},
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        {"force",       no_argument,       NULL, 'f'},
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        {"quiet",       no_argument,       NULL, 'q'},
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        {"verbose",     no_argument,       NULL, 'v'},
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        {"help",        no_argument,       NULL, 'h'},
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        {}
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    };
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    do {
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        c = getopt_long(argc, argv, "m:a:p:d:t:o:fqvh", longOptions, NULL);
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        switch (c) {
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            case 'm':
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14f634f5b613 Open master device as late as possible.
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                masters = optarg;
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                break;
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   164
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1fc1535dec29 Alias/Position selection.
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            case 'a':
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                aliases = optarg;
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                break;
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            case 'p':
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                positions = optarg;
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                break;
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            case 'd':
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                domains = optarg;
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                break;
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            case 't':
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                dataTypeStr = optarg;
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                break;
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            case 'o':
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                outputFile = optarg;
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                break;
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            case 'f':
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                force = true;
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                break;
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            case 'q':
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59be91dfcbe1 Redesigned command interface.
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                verbosity = Command::Quiet;
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                break;
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            case 'v':
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                verbosity = Command::Verbose;
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                break;
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            case 'h':
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                helpRequested = true;
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                break;
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            case '?':
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                cerr << endl << usage();
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                exit(1);
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            default:
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                break;
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        }
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    }
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    while (c != -1);
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   210
1804
742607c464c4 Removed tabulators.
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    argCount = argc - optind;
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    if (!argCount) {
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7dbfdd61812c Bugfixes and improvements.
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        if (helpRequested) {
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   215
            cout << usage();
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            exit(0);
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   217
        } else {
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   218
            cerr << "Please specify a command!" << endl
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   219
                << endl << usage();
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            exit(1);
7dbfdd61812c Bugfixes and improvements.
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   221
        }
1804
742607c464c4 Removed tabulators.
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   222
    }
1122
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1125
9976f7b9fe66 Command abbreviation.
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    commandName = argv[optind];
1122
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   225
    while (++optind < argc)
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        commandArgs.push_back(string(argv[optind]));
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}
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/****************************************************************************/
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   230
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59be91dfcbe1 Redesigned command interface.
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   231
list<Command *> getMatchingCommands(const string &cmdStr)
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   232
{
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   233
    CommandList::iterator ci;
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   234
    list<Command *> res;
1125
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   235
1127
bd7aef6c310c Improved abbreviation.
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   236
    // find matching commands from beginning of the string
1142
59be91dfcbe1 Redesigned command interface.
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   237
    for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface.
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   238
        if ((*ci)->matchesSubstr(cmdStr)) {
59be91dfcbe1 Redesigned command interface.
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   239
            res.push_back(*ci);
1125
9976f7b9fe66 Command abbreviation.
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   240
        }
9976f7b9fe66 Command abbreviation.
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   241
    }
9976f7b9fe66 Command abbreviation.
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   242
1127
bd7aef6c310c Improved abbreviation.
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diff changeset
   243
    if (!res.size()) { // nothing found
bd7aef6c310c Improved abbreviation.
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   244
        // find /any/ matching commands
1142
59be91dfcbe1 Redesigned command interface.
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   245
        for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface.
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   246
            if ((*ci)->matchesAbbrev(cmdStr)) {
59be91dfcbe1 Redesigned command interface.
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diff changeset
   247
                res.push_back(*ci);
1127
bd7aef6c310c Improved abbreviation.
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diff changeset
   248
            }
bd7aef6c310c Improved abbreviation.
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   249
        }
bd7aef6c310c Improved abbreviation.
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   250
    }
bd7aef6c310c Improved abbreviation.
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   251
1125
9976f7b9fe66 Command abbreviation.
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   252
    return res;
1122
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   253
}
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   254
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   255
/****************************************************************************/
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   256
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   257
int main(int argc, char **argv)
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   258
{
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   259
    int retval = 0;
1142
59be91dfcbe1 Redesigned command interface.
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   260
    list<Command *> matchingCommands;
59be91dfcbe1 Redesigned command interface.
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   261
    list<Command *>::const_iterator ci;
59be91dfcbe1 Redesigned command interface.
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   262
    Command *cmd;
1122
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   263
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   264
    binaryBaseName = basename(argv[0]);
1142
59be91dfcbe1 Redesigned command interface.
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   265
59be91dfcbe1 Redesigned command interface.
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   266
    commandList.push_back(new CommandAlias());
59be91dfcbe1 Redesigned command interface.
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   267
    commandList.push_back(new CommandConfig());
1514
85ac1c91045d Added 'ethercat cstruct' command to output PDO information in C language.
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   268
    commandList.push_back(new CommandCStruct());
1142
59be91dfcbe1 Redesigned command interface.
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   269
    commandList.push_back(new CommandData());
59be91dfcbe1 Redesigned command interface.
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   270
    commandList.push_back(new CommandDebug());
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   271
    commandList.push_back(new CommandDomains());
59be91dfcbe1 Redesigned command interface.
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   272
    commandList.push_back(new CommandDownload());
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
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   273
#ifdef EC_EOE
1485
5ddc3a455059 ethercat eoe command.
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   274
    commandList.push_back(new CommandEoe());
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
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   275
#endif
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   276
    commandList.push_back(new CommandFoeRead());
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   277
    commandList.push_back(new CommandFoeWrite());
1422
d41e4537b75f Added 'ethercat graph' command.
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parents: 1388
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   278
    commandList.push_back(new CommandGraph());
1142
59be91dfcbe1 Redesigned command interface.
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diff changeset
   279
    commandList.push_back(new CommandMaster());
59be91dfcbe1 Redesigned command interface.
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   280
    commandList.push_back(new CommandPdos());
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   281
    commandList.push_back(new CommandRegRead());
3c886ec376f5 Renamed phy_ commands to reg_.
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diff changeset
   282
    commandList.push_back(new CommandRegWrite());
1961
48f536aefc18 Rescan command.
Florian Pose <fp@igh-essen.com>
parents: 1869
diff changeset
   283
    commandList.push_back(new CommandRescan());
1142
59be91dfcbe1 Redesigned command interface.
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parents: 1139
diff changeset
   284
    commandList.push_back(new CommandSdos());
59be91dfcbe1 Redesigned command interface.
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parents: 1139
diff changeset
   285
    commandList.push_back(new CommandSiiRead());
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   286
    commandList.push_back(new CommandSiiWrite());
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   287
    commandList.push_back(new CommandSlaves());
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents: 1826
diff changeset
   288
    commandList.push_back(new CommandSoeRead());
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
   289
    commandList.push_back(new CommandSoeWrite());
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   290
    commandList.push_back(new CommandStates());
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   291
    commandList.push_back(new CommandUpload());
1165
c5d6e28eec91 Added 'ethercat version' command.
Florian Pose <fp@igh-essen.com>
parents: 1158
diff changeset
   292
    commandList.push_back(new CommandVersion());
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   293
    commandList.push_back(new CommandXml());
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   294
1804
742607c464c4 Removed tabulators.
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parents: 1516
diff changeset
   295
    getOptions(argc, argv);
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   296
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   297
    matchingCommands = getMatchingCommands(commandName);
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   298
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   299
    if (matchingCommands.size()) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   300
        if (matchingCommands.size() == 1) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   301
            cmd = matchingCommands.front();
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   302
            if (!helpRequested) {
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   303
                try {
1869
14f634f5b613 Open master device as late as possible.
Florian Pose <fp@igh-essen.com>
parents: 1837
diff changeset
   304
                    cmd->setMasters(masters);
1144
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   305
                    cmd->setVerbosity(verbosity);
2010
87de63b19e4c Implemented ranges for slaves, configs and domains.
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   306
                    cmd->setAliases(aliases);
87de63b19e4c Implemented ranges for slaves, configs and domains.
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   307
                    cmd->setPositions(positions);
87de63b19e4c Implemented ranges for slaves, configs and domains.
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   308
                    cmd->setDomains(domains);
1166
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1165
diff changeset
   309
                    cmd->setDataType(dataTypeStr);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1222
diff changeset
   310
                    cmd->setOutputFile(outputFile);
1166
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1165
diff changeset
   311
                    cmd->setForce(force);
1826
ec6223c3b7ec Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   312
                    cmd->execute(commandArgs);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   313
                } catch (InvalidUsageException &e) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   314
                    cerr << e.what() << endl << endl;
1968
4f682084c643 Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   315
                    cerr << cmd->helpString(binaryBaseName);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   316
                    retval = 1;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   317
                } catch (CommandException &e) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   318
                    cerr << e.what() << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   319
                    retval = 1;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   320
                } catch (MasterDeviceException &e) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   321
                    cerr << e.what() << endl;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   322
                    retval = 1;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   323
                }
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   324
            } else {
1968
4f682084c643 Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents: 1961
diff changeset
   325
                cout << cmd->helpString(binaryBaseName);
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   326
            }
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   327
        } else {
1128
b69b2c850160 Fixed typos.
Florian Pose <fp@igh-essen.com>
parents: 1127
diff changeset
   328
            cerr << "Ambiguous command abbreviation! Matching:" << endl;
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   329
            for (ci = matchingCommands.begin();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   330
                    ci != matchingCommands.end();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   331
                    ci++) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   332
                cerr << (*ci)->getName() << endl;
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   333
            }
1144
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   334
            cerr << endl << usage();
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   335
            retval = 1;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   336
        }
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   337
    } else {
1144
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   338
        cerr << "Unknown command " << commandName << "!" << endl
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   339
            << endl << usage();
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   340
        retval = 1;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   343
    return retval;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
/****************************************************************************/