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 <getopt.h>

    31

#include <libgen.h> // basename()

    32

#include <stdlib.h>

    33

    34

#include <iostream>

    35

#include <iomanip>

    36

using namespace std;

    37

    38

#include "CommandAlias.h"

    39

#include "CommandConfig.h"

    40

#include "CommandCStruct.h"

    41

#include "CommandData.h"

    42

#include "CommandDebug.h"

    43

#include "CommandDomains.h"

    44

#include "CommandDownload.h"

    45

#ifdef EC_EOE

    46

# include "CommandEoe.h"

    47

#endif

    48

#include "CommandFoeRead.h"

    49

#include "CommandFoeWrite.h"

    50

#include "CommandGraph.h"

    51

#include "CommandMaster.h"

    52

#include "CommandPdos.h"

    53

#include "CommandRegRead.h"

    54

#include "CommandRegWrite.h"

    55

#include "CommandSdos.h"

    56

#include "CommandSiiRead.h"

    57

#include "CommandSiiWrite.h"

    58

#include "CommandSlaves.h"

    59

#include "CommandStates.h"

    60

#include "CommandUpload.h"

    61

#include "CommandVersion.h"

    62

#include "CommandXml.h"

    63

    64

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

    65

    66

typedef list<Command *> CommandList;

    67

CommandList commandList;

    68

    69

MasterDevice masterDev;

    70

    71

string binaryBaseName;

    72

string commandName;

    73

Command::StringVector commandArgs;

    74

    75

// option variables

    76

unsigned int masterIndex = 0;

    77

int slavePosition = -1;

    78

int slaveAlias = -1;

    79

int domainIndex = -1;

    80

string dataTypeStr;

    81

Command::Verbosity verbosity = Command::Normal;

    82

bool force = false;

    83

bool helpRequested = false;

    84

string outputFile;

    85

    86

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

    87

    88

string usage()

    89

{

    90

    stringstream str;

    91

    CommandList::const_iterator ci;

    92

    size_t maxWidth = 0;

    93

    94

    for (ci = commandList.begin(); ci != commandList.end(); ci++) {

    95

        if ((*ci)->getName().length() > maxWidth) {

    96

            maxWidth = (*ci)->getName().length();

    97

        }

    98

    }

    99

   100

    str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"

   101

        << endl << endl

   103

   104

    str << left;

   105

    for (ci = commandList.begin(); ci != commandList.end(); ci++) {

   106

        str << "  " << setw(maxWidth) << (*ci)->getName()

   107

            << "  " << (*ci)->getBriefDescription() << endl;

   108

    }

   109

   110

    str << endl

   112

        << "  --master  -m <master>  Index of the master to use. Default: 0."

   114

        << "  --force   -f           Force a command." << endl

   115

        << "  --quiet   -q           Output less information." << endl

   116

        << "  --verbose -v           Output more information." << endl

   117

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

   118

        << endl

   119

        << Command::numericInfo()

   120

        << endl

   121

        << "Call '" << binaryBaseName

   122

        << " <COMMAND> --help' for command-specific help." << endl

   123

        << endl

   124

        << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;

   125

   126

    return str.str();

   127

}

   128

   129

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

   130

   131

void getOptions(int argc, char **argv)

   132

{

   133

    int c, argCount;

   134

    stringstream str;

   135

   136

    static struct option longOptions[] = {

   137

        //name,         has_arg,           flag, val

   138

        {"master",      required_argument, NULL, 'm'},

   139

        {"alias",       required_argument, NULL, 'a'},

   140

        {"position",    required_argument, NULL, 'p'},

   141

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

   142

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

   143

        {"output-file", required_argument, NULL, 'o'},

   144

        {"force",       no_argument,       NULL, 'f'},

   145

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

   146

        {"verbose",     no_argument,       NULL, 'v'},

   147

        {"help",        no_argument,       NULL, 'h'},

   148

        {}

   149

    };

   150

   151

    do {

   152

        c = getopt_long(argc, argv, "m:a:p:d:t:o:fqvh", longOptions, NULL);

   153

   154

        switch (c) {

   155

            case 'm':

   156

                str.clear();

   157

                str.str("");

   158

                str << optarg;

   159

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

   160

                    >> masterIndex;

   161

                if (str.fail() || masterIndex < 0) {

   162

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

   163

                        << endl << usage();

   164

                    exit(1);

   165

                }

   166

                break;

   167

   168

            case 'a':

   169

                str.clear();

   170

                str.str("");

   171

                str << optarg;

   172

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

   173

                    >> slaveAlias;

   174

                if (str.fail() || slaveAlias < 0 || slaveAlias > 0xFFFF) {

   175

                    cerr << "Invalid slave alias " << optarg << "!" << endl

   176

                        << endl << usage();

   177

                    exit(1);

   178

                }

   179

                break;

   180

   181

            case 'p':

   182

                str.clear();

   183

                str.str("");

   184

                str << optarg;

   185

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

   186

                    >> slavePosition;

   187

                if (str.fail()

   188

                        || slavePosition < 0 || slavePosition > 0xFFFF) {

   189

                    cerr << "Invalid slave position " << optarg << "!" << endl

   190

                        << endl << usage();

   191

                    exit(1);

   192

                }

   193

                break;

   194

   195

            case 'd':

   196

                str.clear();

   197

                str.str("");

   198

                str << optarg;

   199

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

   200

                    >> domainIndex;

   201

                if (str.fail() || domainIndex < 0) {

   202

                    cerr << "Invalid domain index " << optarg << "!" << endl

   203

                        << endl << usage();

   204

                    exit(1);

   205

                }

   206

                break;

   207

   208

            case 't':

   209

                dataTypeStr = optarg;

   210

                break;

   211

   212

            case 'o':

   213

                outputFile = optarg;

   214

                break;

   215

   216

            case 'f':

   217

                force = true;

   218

                break;

   219

   220

            case 'q':

   221

                verbosity = Command::Quiet;

   222

                break;

   223

   224

            case 'v':

   225

                verbosity = Command::Verbose;

   226

                break;

   227

   228

            case 'h':

   229

                helpRequested = true;

   230

                break;

   231

   232

            case '?':

   233

                cerr << endl << usage();

   234

                exit(1);

   235

   236

            default:

   237

                break;

   238

        }

   239

    }

   240

    while (c != -1);

   241

   243

   244

    if (!argCount) {

   245

        if (helpRequested) {

   246

            cout << usage();

   247

            exit(0);

   248

        } else {

   249

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

   250

                << endl << usage();

   251

            exit(1);

   252

        }

   254

   255

    commandName = argv[optind];

   256

    while (++optind < argc)

   257

        commandArgs.push_back(string(argv[optind]));

   258

}

   259

   260

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

   261

   262

list<Command *> getMatchingCommands(const string &cmdStr)

   263

{

   264

    CommandList::iterator ci;

   265

    list<Command *> res;

   266

   267

    // find matching commands from beginning of the string

   268

    for (ci = commandList.begin(); ci != commandList.end(); ci++) {

   269

        if ((*ci)->matchesSubstr(cmdStr)) {

   270

            res.push_back(*ci);

   271

        }

   272

    }

   273

   274

    if (!res.size()) { // nothing found

   275

        // find /any/ matching commands

   276

        for (ci = commandList.begin(); ci != commandList.end(); ci++) {

   277

            if ((*ci)->matchesAbbrev(cmdStr)) {

   278

                res.push_back(*ci);

   279

            }

   280

        }

   281

    }

   282

   283

    return res;

   284

}

   285

   286

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

   287

   288

int main(int argc, char **argv)

   289

{

   290

    int retval = 0;

   291

    list<Command *> matchingCommands;

   292

    list<Command *>::const_iterator ci;

   293

    Command *cmd;

   294

   295

    binaryBaseName = basename(argv[0]);

   296

   297

    commandList.push_back(new CommandAlias());

   298

    commandList.push_back(new CommandConfig());

   299

    commandList.push_back(new CommandCStruct());

   300

    commandList.push_back(new CommandData());

   301

    commandList.push_back(new CommandDebug());

   302

    commandList.push_back(new CommandDomains());

   303

    commandList.push_back(new CommandDownload());

   304

#ifdef EC_EOE

   305

    commandList.push_back(new CommandEoe());

   306

#endif

   307

    commandList.push_back(new CommandFoeRead());

   308

    commandList.push_back(new CommandFoeWrite());

   309

    commandList.push_back(new CommandGraph());

   310

    commandList.push_back(new CommandMaster());

   311

    commandList.push_back(new CommandPdos());

   312

    commandList.push_back(new CommandRegRead());

   313

    commandList.push_back(new CommandRegWrite());

   314

    commandList.push_back(new CommandSdos());

   315

    commandList.push_back(new CommandSiiRead());

   316

    commandList.push_back(new CommandSiiWrite());

   317

    commandList.push_back(new CommandSlaves());

   318

    commandList.push_back(new CommandStates());

   319

    commandList.push_back(new CommandUpload());

   320

    commandList.push_back(new CommandVersion());

   321

    commandList.push_back(new CommandXml());

   322

   324

   325

    matchingCommands = getMatchingCommands(commandName);

   326

    masterDev.setIndex(masterIndex);

   327

   328

    if (matchingCommands.size()) {

   329

        if (matchingCommands.size() == 1) {

   330

            cmd = matchingCommands.front();

   331

            if (!helpRequested) {

   332

                try {

   333

                    cmd->setVerbosity(verbosity);

   334

                    cmd->setAlias(slaveAlias);

   335

                    cmd->setPosition(slavePosition);

   336

                    cmd->setDomain(domainIndex);

   337

                    cmd->setDataType(dataTypeStr);

   338

                    cmd->setOutputFile(outputFile);

   339

                    cmd->setForce(force);

   340

                    cmd->execute(masterDev, commandArgs);

   341

                } catch (InvalidUsageException &e) {

   342

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

   343

                    cerr << binaryBaseName << " " << cmd->helpString();

   344

                    retval = 1;

   345

                } catch (CommandException &e) {

   346

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

   347

                    retval = 1;

   348

                } catch (MasterDeviceException &e) {

   349

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

   350

                    retval = 1;

   351

                }

   352

            } else {

   353

                cout << binaryBaseName << " " << cmd->helpString();

   354

            }

   355

        } else {

   356

            cerr << "Ambiguous command abbreviation! Matching:" << endl;

   357

            for (ci = matchingCommands.begin();

   358

                    ci != matchingCommands.end();

   359

                    ci++) {

   360

                cerr << (*ci)->getName() << endl;

   361

            }

   362

            cerr << endl << usage();

   363

            retval = 1;

   364

        }

   365

    } else {

   366

        cerr << "Unknown command " << commandName << "!" << endl

   367

            << endl << usage();

   368

        retval = 1;

   369

    }

   370

   372

}

   373

   374

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