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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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using namespace std;

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#include "CommandSoeRead.h"

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#include "MasterDevice.h"

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/*****************************************************************************/

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CommandSoeRead::CommandSoeRead():

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    Command("soe_read", "Read an SoE IDN from a slave.")

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{

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}

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/*****************************************************************************/

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string CommandSoeRead::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << 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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        << "  IDN      is the IDN and must be an unsigned" << endl

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        << "           16 bit number." << 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 CommandSoeRead::execute(const StringVector &args)

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{

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    SlaveList slaves;

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    stringstream err, strIdn;

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    const DataType *dataType = NULL;

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    ec_ioctl_slave_soe_t data;

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    if (args.size() != 1) {

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        err << "'" << getName() << "' takes one argument!";

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        throwInvalidUsageException(err);

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    }

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    strIdn << args[0];

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    strIdn

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        >> resetiosflags(ios::basefield) // guess base from prefix

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        >> data.idn;

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    if (strIdn.fail()) {

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        err << "Invalid IDN '" << args[0] << "'!";

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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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    if (getDataType().empty()) {

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        dataType = findDataType("raw"); // FIXME

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    } else { // no data type specified

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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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    }

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    if (dataType->byteSize) {

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        data.mem_size = dataType->byteSize;

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    } else {

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        data.mem_size = 1024;

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    }

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    data.data = new uint8_t[data.mem_size + 1];

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    try {

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        m.readSoe(&data);

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    } catch (MasterDeviceSoeException &e) {

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        delete [] data.data;

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        err << "SoE read command aborted with code 0x"

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            << setfill('0') << hex << setw(4) << e.errorCode;

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        throwCommandException(err);

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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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    m.close();

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    try {

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        outputData(cout, dataType, data.data, data.data_size);

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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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/*****************************************************************************/