etherlabmaster: tool/main.cpp@5da7c73c4f63 (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <getopt.h>
1118 9487162e4d4d helpWanted; cmdName. Florian Pose <fp@igh-essen.com> parents: 1099 diff changeset	8	#include <libgen.h> // basename()
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <iostream>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include <string>
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 953 diff changeset	12	#include <vector>
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	14
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	15	#include "globals.h"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	16
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	17	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	18
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	19	string binaryBaseName;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	20	unsigned int masterIndex = 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	21	int slavePosition = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	22	int domainIndex = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	23	string command;
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 953 diff changeset	24	vector<string> commandArgs;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	25	Verbosity verbosity = Normal;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	26	string dataTypeStr;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	27	bool force = false;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	28
1121 52a005ffd011 helpRequested. Florian Pose <fp@igh-essen.com> parents: 1120 diff changeset	29	bool helpRequested = false;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	30
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	31	MasterDevice masterDev;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	32
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	33	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	34
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	35	struct Command {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	36	void (*func)(void);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	37	const char *helpString;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	38
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	39	int execute(void) const;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	40	void displayHelp(void) const;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	41	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	42
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	43	struct CommandAlias {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	44	const char *name;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	45	const Command *command;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	46	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	47
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	48	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	49
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	50	#define COMMAND(name) \
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	51	void command_##name(void); \
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	52	extern const char *help_##name; \
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	53	const Command cmd_##name = {command_##name, help_##name};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	54
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	55	COMMAND(alias);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	56	COMMAND(config);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	57
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	58	const CommandAlias commandAliases[] = {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	59	{"alias", &cmd_alias},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	60
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	61	{"config", &cmd_config},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	62	{"conf", &cmd_config},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	63	{"cf", &cmd_config},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	64	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	65
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	66	#if 0
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	67	} else if (command == "data") {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	68	master.outputData(domainIndex);
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 953 diff changeset	69	} else if (command == "debug") {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 953 diff changeset	70	master.setDebug(commandArgs);
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	71	} else if (command == "domain") {
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	72	master.showDomains(domainIndex);
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	73	} else if (command == "master") {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	74	master.showMaster();
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	75	} else if (command == "pdos") {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	76	master.listPdos(slavePosition);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	77	} else if (command == "sdos") {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	78	master.listSdos(slavePosition);
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	79	} else if (command == "sdo_download" \|\| command == "sd") {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	80	master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	81	} else if (command == "sdo_upload" \|\| command == "su") {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	82	master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	83	} else if (command == "slave" \|\| command == "slaves"
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	84	\|\| command == "list" \|\| command == "ls") {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	85	master.showSlaves(slavePosition);
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	86	} else if (command == "sii_read" \|\| command == "sr") {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 974 diff changeset	87	master.siiRead(slavePosition);
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	88	} else if (command == "sii_write" \|\| command == "sw") {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	89	master.siiWrite(slavePosition, force, commandArgs);
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	90	} else if (command == "state") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	91	master.requestStates(slavePosition, commandArgs);
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	92	} else if (command == "xml") {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	93	master.generateXml(slavePosition);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	94	#endif
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	95
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	96	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	97
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	98	void printUsage()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	99	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	100	cerr
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	101	<< "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS]" << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	102	<< "Commands:" << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	103	<< " alias Write alias addresses." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	104	<< " config Show bus configuration." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	105	<< " data Output binary domain process data." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	106	<< " debug Set the master's debug level." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	107	<< " domain Show domain information." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	108	<< " master Show master information." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	109	<< " pdos List Pdo assignment/mapping." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	110	<< " sdo_download Write an Sdo entry." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	111	<< " sdos List Sdo dictionaries." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	112	<< " sdo_upload Read an Sdo entry." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	113	<< " sii_read Output a slave's SII contents." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	114	<< " sii_write Write slave's SII contents." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	115	<< " slaves Show slaves." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	116	<< " state Request slave states." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	117	<< " xml Generate slave information xmls." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	118	<< "Global options:" << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	119	<< " --master -m <master> Index of the master to use. Default: 0"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	120	<< endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	121	<< " --slave -s <index> Positive numerical ring position,"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	122	<< endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	123	<< " or 'all' for all slaves (default)."
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	124	<< endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	125	<< " --domain -d <index> Positive numerical index,"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	126	<< endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	127	<< " or 'all' for all domains (default)."
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	128	<< endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	129	<< " --type -t <type> Forced Sdo data type." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	130	<< " --force -f Force action." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	131	<< " --quiet -q Output less information." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	132	<< " --verbose -v Output more information." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	133	<< " --help -h Show this help." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	134	<< "Call '" << binaryBaseName
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	135	<< " <COMMAND> --help' for command-specific help." << endl
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	136	<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	137	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	138
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	139	/*****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	140
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	141	void getOptions(int argc, char **argv)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	142	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	143	int c, argCount, optionIndex, number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	144	char *remainder;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	145
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	146	static struct option longOptions[] = {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	147	//name, has_arg, flag, val
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	148	{"master", required_argument, NULL, 'm'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	149	{"slave", required_argument, NULL, 's'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	150	{"domain", required_argument, NULL, 'd'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	151	{"type", required_argument, NULL, 't'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	152	{"force", no_argument, NULL, 'f'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	153	{"quiet", no_argument, NULL, 'q'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	154	{"verbose", no_argument, NULL, 'v'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	155	{"help", no_argument, NULL, 'h'},
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	156	{}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	157	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	158
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	159	do {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	160	c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	161
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	162	switch (c) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	163	case 'm':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	164	number = strtoul(optarg, &remainder, 0);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	165	if (remainder == optarg \|\| *remainder \|\| number < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	166	cerr << "Invalid master number " << optarg << "!" << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	167	printUsage();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	168	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	169	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	170	masterIndex = number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	171	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	172
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	173	case 's':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	174	if (!strcmp(optarg, "all")) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	175	slavePosition = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	176	} else {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	177	number = strtoul(optarg, &remainder, 0);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	178	if (remainder == optarg \|\| *remainder
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	179	\|\| number < 0 \|\| number > 0xFFFF) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	180	cerr << "Invalid slave position "
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	181	<< optarg << "!" << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	182	printUsage();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	183	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	184	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	185	slavePosition = number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	186	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	187	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	188
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	189	case 'd':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	190	if (!strcmp(optarg, "all")) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	191	domainIndex = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	192	} else {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	193	number = strtoul(optarg, &remainder, 0);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	194	if (remainder == optarg \|\| *remainder \|\| number < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	195	cerr << "Invalid domain index "
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	196	<< optarg << "!" << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	197	printUsage();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	198	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	199	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	200	domainIndex = number;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	201	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	202	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	203
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	204	case 't':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	205	dataTypeStr = optarg;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	206	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	207
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	208	case 'f':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	209	force = true;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	210	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	211
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	212	case 'q':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	213	verbosity = Quiet;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	214	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	215
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	216	case 'v':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	217	verbosity = Verbose;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	218	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	219
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	220	case 'h':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	221	helpRequested = true;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	222	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	223
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	224	case '?':
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	225	printUsage();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	226	exit(1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	227
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	228	default:
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	229	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	230	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	231	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	232	while (c != -1);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	233
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	234	argCount = argc - optind;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	235
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	236	if (!argCount) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	237	if (!helpRequested) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	238	cerr << "Please specify a command!" << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	239	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	240	printUsage();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	241	exit(!helpRequested);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	242	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	243
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	244	command = argv[optind];
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	245	while (++optind < argc)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	246	commandArgs.push_back(string(argv[optind]));
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	247	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	248
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	249	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	250
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	251	int Command::execute() const
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	252	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	253	try {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	254	func();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	255	} catch (InvalidUsageException &e) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	256	cerr << e.what() << endl << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	257	displayHelp();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	258	return 1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	259	} catch (ExecutionFailureException &e) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	260	cerr << e.what() << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	261	return 1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	262	} catch (MasterDeviceException &e) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	263	cerr << e.what() << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	264	return 1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	265	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	266
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	267	return 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	268	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	269
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	270	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	271
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	272	void Command::displayHelp() const
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	273	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	274	cerr << binaryBaseName << " " << command << " " << helpString;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	275	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	276
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	277	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	278
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	279	int main(int argc, char **argv)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	280	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	281	int retval = 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	282	const CommandAlias *alias;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	283	const CommandAlias *endAlias =
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	284	commandAliases + sizeof(commandAliases) / sizeof(CommandAlias);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	285
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	286	binaryBaseName = basename(argv[0]);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	287	getOptions(argc, argv);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	288
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	289	// search command alias in alias map
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	290	for (alias = commandAliases; alias < endAlias; alias++) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	291	if (command == alias->name)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	292	break;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	293	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	294
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	295	if (alias < endAlias) { // command alias found
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	296	if (!helpRequested) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	297	masterDev.setIndex(masterIndex);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	298	retval = alias->command->execute();
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	299	} else {
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	300	alias->command->displayHelp();
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	301	}
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	302	} else { // command not found
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	303	cerr << "Unknown command " << command << "!" << endl << endl;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	304	printUsage();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	305	retval = 1;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: 1121 diff changeset	308	return retval;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	310
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 22 Jul 2008 09:03:10 +0000
changeset 1124	5da7c73c4f63
parent 1122	ee305a780a02
child 1125	9976f7b9fe66
permissions	-rw-r--r--