1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#include <iostream>

    31

#include <iomanip>

    32

#include <fstream>

    33

using namespace std;

    34

    35

#include "CommandRegWrite.h"

    36

#include "sii_crc.h"

    37

    38

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

    39

    40

CommandRegWrite::CommandRegWrite():

    41

    CommandReg("reg_write", "Write data to a slave's registers.")

    42

{

    43

}

    44

    45

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

    46

    47

string CommandRegWrite::helpString() const

    48

{

    49

    stringstream str;

    50

    51

    str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl

    52

        << endl 

    53

        << getBriefDescription() << endl

    54

        << endl

    55

        << "This command requires a single slave to be selected." << endl

    56

    	<< endl

    57

        << "Arguments:" << endl

    58

        << "  OFFSET  is the register address to write to." << endl

    59

        << "  DATA    depends on whether a datatype was specified" << endl

    60

		<< "          with the --type option: If not, DATA must be" << endl

    61

		<< "          either a path to a file with data to write," << endl

    62

		<< "          or '-', which means, that data are read from" << endl

    63

		<< "          stdin. If a datatype was specified, VALUE is" << endl

    64

		<< "          interpreted respective to the given type." << endl

    65

        << endl

    66

        << "These are the valid data types:" << endl

    67

        << "  int8, int16, int32, int64, uint8, uint16, uint32," << endl

    68

        << "  uint64, string." << endl

    69

		<< endl

    70

        << "Command-specific options:" << endl

    71

        << "  --alias    -a <alias>" << endl

    72

        << "  --position -p <pos>    Slave selection. See the help of" << endl

    73

        << "                         the 'slaves' command." << endl

    74

        << "  --type     -t <type>   Data type (see above)." << endl

    75

        << endl

    76

        << numericInfo();

    77

    78

    return str.str();

    79

}

    80

    81

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

    82

    83

void CommandRegWrite::execute(MasterDevice &m, const StringVector &args)

    84

{

    85

    stringstream strOffset, err;

    86

    ec_ioctl_slave_reg_t data;

    87

    ifstream file;

    88

    SlaveList slaves;

    89

    90

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

    91

        err << "'" << getName() << "' takes exactly two arguments!";

    92

        throwInvalidUsageException(err);

    93

    }

    94

    95

    strOffset << args[0];

    96

    strOffset

    97

        >> resetiosflags(ios::basefield) // guess base from prefix

    98

        >> data.offset;

    99

    if (strOffset.fail()) {

   100

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

   101

        throwInvalidUsageException(err);

   102

    }

   103

   104

	if (getDataType().empty()) {

   105

		if (args[1] == "-") {

   106

			loadRegData(&data, cin);

   107

		} else {

   108

			file.open(args[1].c_str(), ifstream::in | ifstream::binary);

   109

			if (file.fail()) {

   110

				err << "Failed to open '" << args[1] << "'!";

   111

				throwCommandException(err);

   112

			}

   113

			loadRegData(&data, file);

   114

			file.close();

   115

		}

   116

	} else {

   117

		stringstream strValue;

   118

		const DataType *dataType = findDataType(getDataType());

   119

   120

        if (!dataType) {

   121

            err << "Invalid data type '" << getDataType() << "'!";

   122

            throwInvalidUsageException(err);

   123

        }

   124

   125

		if (dataType->byteSize) {

   126

			data.length = dataType->byteSize;

   127

			data.data = new uint8_t[data.length];

   128

		}

   129

   130

		strValue << args[1];

   131

		strValue >> resetiosflags(ios::basefield); // guess base from prefix

   132

		strValue.exceptions(ios::failbit);

   133

   134

		try {

   136

				int16_t val; // uint8_t is interpreted as char

   137

				strValue >> val;

   138

				if (val > 127 || val < -128)

   139

					throw ios::failure("Value out of range");

   140

				*data.data = (int8_t) val;

   142

				int16_t val;

   143

				strValue >> val;

   144

				*(int16_t *) data.data = cpu_to_le16(val);

   146

				int32_t val;

   147

				strValue >> val;

   148

				*(int32_t *) data.data = cpu_to_le32(val);

   150

				int64_t val;

   151

				strValue >> val;

   152

				*(int64_t *) data.data = cpu_to_le64(val);

   154

				uint16_t val; // uint8_t is interpreted as char

   155

				strValue >> val;

   156

				if (val > 0xff)

   157

					throw ios::failure("Value out of range");

   158

				*data.data = (uint8_t) val;

   160

				uint16_t val;

   161

				strValue >> val;

   162

				*(uint16_t *) data.data = cpu_to_le16(val);

   164

				uint32_t val;

   165

				strValue >> val;

   166

				*(uint32_t *) data.data = cpu_to_le32(val);

   168

				uint64_t val;

   169

				strValue >> val;

   170

				*(uint64_t *) data.data = cpu_to_le64(val);

   173

				data.length = strValue.str().size();

   174

				if (!data.length) {

   175

					err << "Zero-size string now allowed!";

   176

					throwCommandException(err);

   177

				}

   178

				data.data = new uint8_t[data.length];

   179

				strValue >> (char *) data.data;

   180

			} else {

   181

				err << "Invalid data type " << dataType->name;

   182

				throwCommandException(err);

   183

			}

   184

		} catch (ios::failure &e) {

   185

			delete [] data.data;

   186

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

   187

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

   188

			throwInvalidUsageException(err);

   189

		}

   190

	}

   191

   192

    if ((uint32_t) data.offset + data.length > 0xffff) {

   193

        err << "Offset and length exceeding 64k!";

   194

        delete [] data.data;

   195

        throwInvalidUsageException(err);

   196

    }

   197

   198

    try {

   199

        m.open(MasterDevice::ReadWrite);

   200

    } catch (MasterDeviceException &e) {

   201

        delete [] data.data;

   202

        throw e;

   203

    }

   204

   205

    slaves = selectedSlaves(m);

   206

    if (slaves.size() != 1) {

   207

        delete [] data.data;

   208

        throwSingleSlaveRequired(slaves.size());

   209

    }

   210

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

   211

   212

    // send data to master

   213

    try {

   214

        m.writeReg(&data);

   215

    } catch (MasterDeviceException &e) {

   216

        delete [] data.data;

   217

        throw e;

   218

    }

   219

   220

    if (getVerbosity() == Verbose) {

   221

        cerr << "Register writing finished." << endl;

   222

    }

   223

   224

    delete [] data.data;

   225

}

   226

   227

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

   228

   229

void CommandRegWrite::loadRegData(

   230

        ec_ioctl_slave_reg_t *data,

   231

        const istream &in

   232

        )

   233

{

   234

    stringstream err;

   235

    ostringstream tmp;

   236

   237

    tmp << in.rdbuf();

   238

    string const &contents = tmp.str();

   239

   240

    if (getVerbosity() == Verbose) {

   241

        cerr << "Read " << contents.size() << " bytes of data." << endl;

   242

    }

   243

   244

    if (contents.size() > 0xffff) {

   245

        err << "Invalid data size " << contents.size() << "!";

   246

        throwInvalidUsageException(err);

   247

    }

   248

    data->length = contents.size();

   249

   250

    // allocate buffer and read file into buffer

   251

    data->data = new uint8_t[data->length];

   252

    contents.copy((char *) data->data, contents.size());

   253

}

   254

   255

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