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

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 *

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 * $Id$

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 *

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

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#include <getopt.h>

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#include <iostream>

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#include <string>

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#include <vector>

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using namespace std;

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#include "Master.h"

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

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#define DEFAULT_MASTER 0

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static unsigned int masterIndex = DEFAULT_MASTER;

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static int slavePosition = -1;

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static int domainIndex = -1;

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static string command;

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vector<string> commandArgs;

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static bool quiet = false;

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string dataTypeStr;

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

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void printUsage()

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{

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    cerr

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        << "Usage: ethercat <COMMAND> [OPTIONS]" << endl

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		<< "Commands:" << endl

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        << "  data               Output binary domain process data." << endl

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        << "  debug              Set the master debug level." << endl

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        << "  domain             Show domain information." << endl

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        << "  list (ls, slaves)  List all slaves (former 'lsec')." << endl

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        << "  master             Show master information." << endl

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        << "  pdos               List Pdo mapping." << endl

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        << "  sdos               List Sdo dictionaries." << endl

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        << "  state              Request slave states." << endl

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        << "  xml                Generate slave information xmls." << endl

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		<< "Global options:" << endl

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        << "  --master  -m <master>  Index of the master to use. Default: "

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		<< DEFAULT_MASTER << endl

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        << "  --slave   -s <index>   Positive numerical ring position,"

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        << endl

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        << "                         or 'all' for all slaves (default)."

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        << endl

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        << "  --domain  -d <index>   Positive numerical index,"

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        << endl

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        << "                         or 'all' for all domains (default)."

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        << endl

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        << "  --type    -t <type>    Forced Sdo data type." << endl

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        << "  --quiet   -q           Show less output." << endl

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        << "  --help    -h           Show this help." << endl;

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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, optionIndex, number;

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	char *remainder;

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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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        {"slave",  required_argument, NULL, 's'},

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        {"domain", required_argument, NULL, 'd'},

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        {"type",   required_argument, NULL, 't'},

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        {"quiet",  no_argument,       NULL, 'q'},

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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:s:d:t:qh", longOptions, &optionIndex);

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        switch (c) {

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            case 'm':

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                number = strtoul(optarg, &remainder, 0);

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                if (remainder == optarg || *remainder || number < 0) {

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                    cerr << "Invalid master number " << optarg << "!" << endl;

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                    printUsage();

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                    exit(1);

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                }

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				masterIndex = number;

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                break;

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            case 's':

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                if (!strcmp(optarg, "all")) {

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                    slavePosition = -1;

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                } else {

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                    number = strtoul(optarg, &remainder, 0);

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                    if (remainder == optarg || *remainder

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                            || number < 0 || number > 0xFFFF) {

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                        cerr << "Invalid slave position "

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                            << optarg << "!" << endl;

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                        printUsage();

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                        exit(1);

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                    }

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                    slavePosition = number;

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                }

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                break;

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            case 'd':

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                if (!strcmp(optarg, "all")) {

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                    domainIndex = -1;

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                } else {

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                    number = strtoul(optarg, &remainder, 0);

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                    if (remainder == optarg || *remainder || number < 0) {

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                        cerr << "Invalid domain index "

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							<< optarg << "!" << endl;

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                        printUsage();

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                        exit(1);

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                    }

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                    domainIndex = number;

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                }

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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 'q':

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                quiet = true;

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                break;

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            case 'h':

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            case '?':

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                printUsage();

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                exit(0);

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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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	argCount = argc - optind;

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	if (!argCount) {

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        cerr << "Please specify a command!" << endl;

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		printUsage();

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        exit(1);

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	}

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    command = argv[optind];

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    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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int main(int argc, char **argv)

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{

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    Master master;

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	getOptions(argc, argv);

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    try {

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        master.setIndex(masterIndex);

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        if (command == "data") {

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            master.outputData(domainIndex);

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        } else if (command == "debug") {

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            master.setDebug(commandArgs);

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        } else if (command == "domain") {

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            master.showDomains(domainIndex);

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		} else if (command == "list" || command == "ls" || command == "slaves") {

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            master.listSlaves();

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		} else if (command == "master") {

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            master.showMaster();

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        } else if (command == "pdos") {

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            master.listPdos(slavePosition, quiet);

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        } else if (command == "sdos") {

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            master.listSdos(slavePosition, quiet);

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        } else if (command == "sdo_upload" || command == "su") {

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            master.sdoUpload(slavePosition, dataTypeStr, commandArgs);

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        } else if (command == "state") {

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            master.requestStates(slavePosition, commandArgs);

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        } else if (command == "xml") {

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            master.generateXml(slavePosition);

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        } else {

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            cerr << "Unknown command " << command << "!" << endl;

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            printUsage();

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            exit(1);

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        }

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    } catch (MasterException &e) {

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        cerr << e.what() << endl;

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        exit(1);

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    }

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	return 0;

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}

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