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 <libgen.h> // basename()

    31

#include <string.h>

    32

    33

#include <iostream>

    34

#include <iomanip>

    35

#include <fstream>

    36

using namespace std;

    37

    38

#include "CommandFoeWrite.h"

    39

#include "foe.h"

    40

    41

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

    42

    43

CommandFoeWrite::CommandFoeWrite():

    44

    FoeCommand("foe_write", "Store a file on a slave via FoE.")

    45

{

    46

}

    47

    48

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

    49

    50

string CommandFoeWrite::helpString() const

    51

{

    52

    stringstream str;

    53

    54

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

    55

        << endl

    56

        << getBriefDescription() << endl

    57

        << endl

    58

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

    59

    	<< endl

    60

        << "Arguments:" << endl

    61

        << "  FILENAME can either be a path to a file, or '-'. In" << endl

    62

        << "           the latter case, data are read from stdin and" << endl

    63

        << "           the --output-file option has to be specified." << endl

    64

        << endl

    65

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

    66

        << "  --output-file -o <file>   Target filename on the slave." << endl

    67

        << "                            If the FILENAME argument is" << endl

    68

        << "                            '-', this is mandatory." << endl

    69

        << "                            Otherwise, the basename() of" << endl

    70

        << "                            FILENAME is used by default." << endl

    71

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

    72

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

    73

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

    74

        << endl

    75

        << numericInfo();

    76

    77

    return str.str();

    78

}

    79

    80

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

    81

    82

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

    83

{

    84

    stringstream err;

    85

    ec_ioctl_slave_foe_t data;

    86

    ifstream file;

    87

    SlaveList slaves;

    88

    string storeFileName;

    89

    90

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

    91

        err << "'" << getName() << "' takes exactly one argument!";

    92

        throwInvalidUsageException(err);

    93

    }

    94

    95

    if (args[0] == "-") {

    96

        loadFoeData(&data, cin);

    97

        if (getOutputFile().empty()) {

    98

            err << "Please specify a filename for the slave side"

    99

                << " with --output-file!";

   100

            throwCommandException(err);

   101

        } else {

   102

            storeFileName = getOutputFile();

   103

        }

   104

    } else {

   105

        file.open(args[0].c_str(), ifstream::in | ifstream::binary);

   106

        if (file.fail()) {

   107

            err << "Failed to open '" << args[0] << "'!";

   108

            throwCommandException(err);

   109

        }

   110

        loadFoeData(&data, file);

   111

        file.close();

   112

        if (getOutputFile().empty()) {

   113

            char *cpy = strdup(args[0].c_str()); // basename can modify

   114

                                                 // the string contents

   115

            storeFileName = basename(cpy);

   116

            free(cpy);

   117

        } else {

   118

            storeFileName = getOutputFile();

   119

        }

   120

    }

   121

   122

    try {

   123

        m.open(MasterDevice::ReadWrite);

   124

    } catch (MasterDeviceException &e) {

   125

        if (data.buffer_size)

   126

            delete [] data.buffer;

   127

        throw e;

   128

    }

   129

   130

    slaves = selectedSlaves(m);

   131

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

   132

        if (data.buffer_size)

   133

            delete [] data.buffer;

   134

        throwSingleSlaveRequired(slaves.size());

   135

    }

   136

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

   137

   138

    // write data via foe to the slave

   139

    data.offset = 0;

   140

    strncpy(data.file_name, storeFileName.c_str(), sizeof(data.file_name));

   141

   142

    try {

   143

        m.writeFoe(&data);

   144

    } catch (MasterDeviceException &e) {

   145

        if (data.buffer_size)

   146

            delete [] data.buffer;

   147

        if (data.result) {

   148

            if (data.result == FOE_OPCODE_ERROR) {

   149

                err << "FoE write aborted with error code 0x"

   150

                    << setw(8) << setfill('0') << hex << data.error_code

   151

                    << ": " << errorText(data.error_code);

   152

            } else {

   153

                err << "Failed to write via FoE: "

   154

                    << resultText(data.result);

   155

            }

   156

            throwCommandException(err);

   157

        } else {

   158

            throw e;

   159

        }

   160

    }

   161

   162

    if (getVerbosity() == Verbose) {

   163

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

   164

    }

   165

   166

    if (data.buffer_size)

   167

        delete [] data.buffer;

   168

}

   169

   170

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

   171

   172

void CommandFoeWrite::loadFoeData(

   173

        ec_ioctl_slave_foe_t *data,

   174

        const istream &in

   175

        )

   176

{

   177

    stringstream err;

   178

    ostringstream tmp;

   179

   180

    tmp << in.rdbuf();

   181

    string const &contents = tmp.str();

   182

   183

    if (getVerbosity() == Verbose) {

   184

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

   185

    }

   186

   187

    data->buffer_size = contents.size();

   188

   189

    if (data->buffer_size) {

   190

        // allocate buffer and read file into buffer

   191

        data->buffer = new uint8_t[data->buffer_size];

   192

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

   193

    }

   194

}

   195

   196

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