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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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using namespace std;

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#include "CommandSoeWrite.h"

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#include "MasterDevice.h"

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

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CommandSoeWrite::CommandSoeWrite():

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    SoeCommand("soe_write", "Write an SoE IDN to a slave.")

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{

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}

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

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string CommandSoeWrite::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <IDN> <VALUE>" << 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 either an unsigned" << endl

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        << "           16 bit number acc. to IEC 61800-7-204:" << endl

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        << "             Bit 15: (0) Standard data, (1) Product data" << endl

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        << "             Bit 14 - 12: Parameter set (0 - 7)" << endl

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        << "             Bit 11 - 0: Data block number" << endl

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        << "           or a string like 'P-0-150'." << endl

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        << "  VALUE    is the value to write (see below)." << endl

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		<< endl

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        << "The VALUE argument is interpreted as the given data type" << endl

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		<< "(--type is mandatory) and written to the selected slave." << endl

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        << endl

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		<< typeInfo()

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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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        << "  --type     -t <type>   Data type (see above)." << 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 CommandSoeWrite::execute(const StringVector &args)

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{

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    stringstream strIdn, err;

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    const DataType *dataType = NULL;

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    ec_ioctl_slave_soe_write_t ioctl;

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    SlaveList slaves;

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    size_t memSize;

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    if (args.size() != 2) {

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        err << "'" << getName() << "' takes 2 arguments!";

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        throwInvalidUsageException(err);

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    }

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    ioctl.drive_no = 0; // FIXME

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    try {

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        ioctl.idn = parseIdn(args[0]);

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    } catch (runtime_error &e) {

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        err << "Invalid IDN '" << args[0] << "': " << e.what();

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        throwInvalidUsageException(err);

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    }

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    MasterDevice m(getSingleMasterIndex());

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    m.open(MasterDevice::ReadWrite);

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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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    ioctl.slave_position = slaves.front().position;

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    if (!getDataType().empty()) { // 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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    } else { // no data type specified

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        err << "Please specify a data type.";

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        throwInvalidUsageException(err); // FIXME read from stream

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    }

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    if (dataType->byteSize) {

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        memSize = dataType->byteSize;

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    } else {

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        // guess string type size

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        memSize = args[1].size() + 1;

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        if (!memSize) {

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            err << "Empty argument not allowed.";

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            throwInvalidUsageException(err);

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        }

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    }

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    ioctl.data = new uint8_t[memSize];

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    try {

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        ioctl.data_size = interpretAsType(

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                dataType, args[1], ioctl.data, memSize);

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    } catch (SizeException &e) {

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        delete [] ioctl.data;

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        throwCommandException(e.what());

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    } catch (ios::failure &e) {

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        delete [] ioctl.data;

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        err << "Invalid value argument '" << args[1]

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            << "' for type '" << dataType->name << "'!";

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        throwInvalidUsageException(err);

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    }

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    try {

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        m.writeSoe(&ioctl);

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    } catch (MasterDeviceSoeException &e) {

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        delete [] ioctl.data;

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        err << "SoE write command failed with code " << errorMsg(e.errorCode);

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        throwCommandException(err);

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    } catch (MasterDeviceException &e) {

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        delete [] ioctl.data;

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        throw e;

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    }

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    delete [] ioctl.data;

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}

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