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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 <algorithm>

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using namespace std;

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#include "CommandStates.h"

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#include "MasterDevice.h"

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

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CommandStates::CommandStates():

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    Command("states", "Request application-layer states.")

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{

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}

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

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string CommandStates::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <STATE>" << endl

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        << endl

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        << getBriefDescription() << endl

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        << endl

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        << "Arguments:" << endl

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        << "  STATE can be 'INIT', 'PREOP', 'BOOT', 'SAFEOP', or 'OP'." << 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 CommandStates::execute(const StringVector &args)

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{

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    SlaveList slaves;

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    SlaveList::const_iterator si;

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    stringstream err;

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    string stateStr;

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    uint8_t state = 0x00;

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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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    stateStr = args[0];

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    transform(stateStr.begin(), stateStr.end(),

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            stateStr.begin(), (int (*) (int)) std::toupper);

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    if (stateStr == "INIT") {

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        state = 0x01;

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    } else if (stateStr == "PREOP") {

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        state = 0x02;

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    } else if (stateStr == "BOOT") {

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        state = 0x03;

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    } else if (stateStr == "SAFEOP") {

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        state = 0x04;

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    } else if (stateStr == "OP") {

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        state = 0x08;

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    } else {

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

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        throwInvalidUsageException(err);

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    }

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    MasterIndexList::const_iterator mi;

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    for (mi = getMasterIndices().begin();

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            mi != getMasterIndices().end(); mi++) {

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        MasterDevice m(*mi);

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        m.open(MasterDevice::ReadWrite);

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        slaves = selectedSlaves(m);

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        for (si = slaves.begin(); si != slaves.end(); si++) {

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            m.requestState(si->position, state);

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        }

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    }

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}

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