tool/CommandFoeWrite.cpp
author Florian Pose <fp@igh-essen.com>
Tue, 19 Jan 2010 15:15:57 +0100
changeset 1773 5371f3e5f6a1
parent 1363 11c0b2caa253
child 1804 742607c464c4
permissions -rw-r--r--
Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
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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 <libgen.h> // basename()
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#include <string.h>
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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 "CommandFoeWrite.h"
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#include "foe.h"
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/*****************************************************************************/
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CommandFoeWrite::CommandFoeWrite():
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    FoeCommand("foe_write", "Store a file on a slave via FoE.")
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{
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}
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/*****************************************************************************/
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string CommandFoeWrite::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS] <FILENAME>" << 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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        << "  FILENAME can either be a path to a file, or '-'. In" << endl
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        << "           the latter case, data are read from stdin and" << endl
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        << "           the --output-file option has to be specified." << endl
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        << endl
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        << "Command-specific options:" << endl
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        << "  --output-file -o <file>   Target filename on the slave." << endl
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        << "                            If the FILENAME argument is" << endl
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        << "                            '-', this is mandatory." << endl
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        << "                            Otherwise, the basename() of" << endl
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        << "                            FILENAME is used by default." << endl
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        << "  --alias       -a <alias>" << endl
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        << "  --position    -p <pos>    Slave selection. See the help" << endl
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        << "                            of 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 CommandFoeWrite::execute(MasterDevice &m, const StringVector &args)
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{
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    stringstream err;
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    ec_ioctl_slave_foe_t data;
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    ifstream file;
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    SlaveList slaves;
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    string storeFileName;
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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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    if (args[0] == "-") {
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        loadFoeData(&data, cin);
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        if (getOutputFile().empty()) {
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            err << "Please specify a filename for the slave side"
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                << " with --output-file!";
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            throwCommandException(err);
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        } else {
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            storeFileName = getOutputFile();
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        }
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    } else {
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        file.open(args[0].c_str(), ifstream::in | ifstream::binary);
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        if (file.fail()) {
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            err << "Failed to open '" << args[0] << "'!";
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            throwCommandException(err);
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        }
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        loadFoeData(&data, file);
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        file.close();
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        if (getOutputFile().empty()) {
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            char *cpy = strdup(args[0].c_str()); // basename can modify
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                                                 // the string contents
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   115
            storeFileName = basename(cpy);
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            free(cpy);
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   117
        } else {
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            storeFileName = getOutputFile();
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   119
        }
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   120
    }
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   121
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    try {
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        m.open(MasterDevice::ReadWrite);
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    } catch (MasterDeviceException &e) {
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        if (data.buffer_size)
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            delete [] data.buffer;
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        throw e;
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   128
    }
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   129
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    slaves = selectedSlaves(m);
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    if (slaves.size() != 1) {
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        if (data.buffer_size)
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            delete [] data.buffer;
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        throwSingleSlaveRequired(slaves.size());
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   135
    }
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    data.slave_position = slaves.front().position;
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   137
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    // write data via foe to the slave
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    data.offset = 0;
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    strncpy(data.file_name, storeFileName.c_str(), sizeof(data.file_name));
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   141
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   142
    try {
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        m.writeFoe(&data);
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   144
    } catch (MasterDeviceException &e) {
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   145
        if (data.buffer_size)
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            delete [] data.buffer;
1336
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   147
        if (data.result) {
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            if (data.result == FOE_OPCODE_ERROR) {
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                err << "FoE write aborted with error code 0x"
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                    << setw(8) << setfill('0') << hex << data.error_code
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                    << ": " << errorText(data.error_code);
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   152
            } else {
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                err << "Failed to write via FoE: "
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                    << resultText(data.result);
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   155
            }
1335
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   156
            throwCommandException(err);
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   157
        } else {
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   158
            throw e;
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   159
        }
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   160
    }
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   161
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   162
    if (getVerbosity() == Verbose) {
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   163
        cerr << "FoE writing finished." << endl;
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   164
    }
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   165
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   166
    if (data.buffer_size)
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   167
        delete [] data.buffer;
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   168
}
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   169
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   170
/*****************************************************************************/
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   171
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   172
void CommandFoeWrite::loadFoeData(
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   173
        ec_ioctl_slave_foe_t *data,
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   174
        const istream &in
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   175
        )
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   176
{
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   177
    stringstream err;
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   178
    ostringstream tmp;
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   179
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   180
    tmp << in.rdbuf();
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   181
    string const &contents = tmp.str();
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   182
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   183
    if (getVerbosity() == Verbose) {
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   184
        cerr << "Read " << contents.size() << " bytes of FoE data." << endl;
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   185
    }
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diff changeset
   186
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   187
    data->buffer_size = contents.size();
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diff changeset
   188
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   189
    if (data->buffer_size) {
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   190
        // allocate buffer and read file into buffer
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   191
        data->buffer = new uint8_t[data->buffer_size];
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   192
        contents.copy((char *) data->buffer, contents.size());
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diff changeset
   193
    }
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   194
}
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   195
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   196
/*****************************************************************************/