tool/main.cpp
author Florian Pose <fp@igh-essen.com>
Thu, 09 Jul 2009 14:05:36 +0000
changeset 1492 c44308ec691b
parent 1485 5ddc3a455059
child 1514 85ac1c91045d
permissions -rw-r--r--
Zero mailbox datagram before sending.
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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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#include <getopt.h>
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#include <libgen.h> // basename()
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#include <stdlib.h>
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "CommandAlias.h"
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#include "CommandConfig.h"
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#include "CommandData.h"
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#include "CommandDebug.h"
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#include "CommandDomains.h"
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#include "CommandDownload.h"
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#include "CommandEoe.h"
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#include "CommandFoeRead.h"
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#include "CommandFoeWrite.h"
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#include "CommandGraph.h"
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#include "CommandMaster.h"
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#include "CommandPdos.h"
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#include "CommandRegRead.h"
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#include "CommandRegWrite.h"
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#include "CommandSdos.h"
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#include "CommandSiiRead.h"
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#include "CommandSiiWrite.h"
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#include "CommandSlaves.h"
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#include "CommandStates.h"
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#include "CommandUpload.h"
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#include "CommandVersion.h"
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#include "CommandXml.h"
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/*****************************************************************************/
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typedef list<Command *> CommandList;
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CommandList commandList;
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MasterDevice masterDev;
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string binaryBaseName;
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string commandName;
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Command::StringVector commandArgs;
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// option variables
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unsigned int masterIndex = 0;
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int slavePosition = -1;
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int slaveAlias = -1;
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int domainIndex = -1;
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string dataTypeStr;
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Command::Verbosity verbosity = Command::Normal;
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bool force = false;
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bool helpRequested = false;
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string outputFile;
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/*****************************************************************************/
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string usage()
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{
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    stringstream str;
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    CommandList::const_iterator ci;
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    size_t maxWidth = 0;
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    for (ci = commandList.begin(); ci != commandList.end(); ci++) {
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        if ((*ci)->getName().length() > maxWidth) {
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            maxWidth = (*ci)->getName().length();
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        }
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    }
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    str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
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        << endl << endl
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		<< "Commands (can be abbreviated):" << endl;
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    str << left;
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    for (ci = commandList.begin(); ci != commandList.end(); ci++) {
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        str << "  " << setw(maxWidth) << (*ci)->getName()
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            << "  " << (*ci)->getBriefDescription() << endl;
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    }
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    str << endl
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		<< "Global options:" << endl
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        << "  --master  -m <master>  Index of the master to use. Default: 0."
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		<< endl
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        << "  --force   -f           Force a command." << endl
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        << "  --quiet   -q           Output less information." << endl
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        << "  --verbose -v           Output more information." << endl
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        << "  --help    -h           Show this help." << endl
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        << endl
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        << Command::numericInfo()
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        << endl
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        << "Call '" << binaryBaseName
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        << " <COMMAND> --help' for command-specific help." << endl
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        << endl
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        << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
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    return str.str();
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}
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/*****************************************************************************/
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void getOptions(int argc, char **argv)
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{
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    int c, argCount;
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    stringstream str;
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    static struct option longOptions[] = {
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        //name,         has_arg,           flag, val
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        {"master",      required_argument, NULL, 'm'},
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        {"alias",       required_argument, NULL, 'a'},
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   137
        {"position",    required_argument, NULL, 'p'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   138
        {"domain",      required_argument, NULL, 'd'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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diff changeset
   139
        {"type",        required_argument, NULL, 't'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   140
        {"output-file", required_argument, NULL, 'o'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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diff changeset
   141
        {"force",       no_argument,       NULL, 'f'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   142
        {"quiet",       no_argument,       NULL, 'q'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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diff changeset
   143
        {"verbose",     no_argument,       NULL, 'v'},
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   144
        {"help",        no_argument,       NULL, 'h'},
1122
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   145
        {}
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diff changeset
   146
    };
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   147
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   148
    do {
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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   149
        c = getopt_long(argc, argv, "m:a:p:d:t:o:fqvh", longOptions, NULL);
1122
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   150
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   151
        switch (c) {
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   152
            case 'm':
1158
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   153
                str.clear();
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   154
                str.str("");
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diff changeset
   155
                str << optarg;
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   156
                str >> resetiosflags(ios::basefield) // guess base from prefix
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   157
                    >> masterIndex;
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   158
                if (str.fail() || masterIndex < 0) {
1144
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diff changeset
   159
                    cerr << "Invalid master number " << optarg << "!" << endl
7dbfdd61812c Bugfixes and improvements.
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diff changeset
   160
                        << endl << usage();
1122
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diff changeset
   161
                    exit(1);
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diff changeset
   162
                }
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diff changeset
   163
                break;
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diff changeset
   164
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   165
            case 'a':
1158
f65164fa4a58 Removed parameter values 'all'.
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diff changeset
   166
                str.clear();
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diff changeset
   167
                str.str("");
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diff changeset
   168
                str << optarg;
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diff changeset
   169
                str >> resetiosflags(ios::basefield) // guess base from prefix
f65164fa4a58 Removed parameter values 'all'.
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   170
                    >> slaveAlias;
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   171
                if (str.fail() || slaveAlias < 0 || slaveAlias > 0xFFFF) {
f65164fa4a58 Removed parameter values 'all'.
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diff changeset
   172
                    cerr << "Invalid slave alias " << optarg << "!" << endl
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diff changeset
   173
                        << endl << usage();
f65164fa4a58 Removed parameter values 'all'.
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diff changeset
   174
                    exit(1);
1151
1fc1535dec29 Alias/Position selection.
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diff changeset
   175
                }
1fc1535dec29 Alias/Position selection.
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diff changeset
   176
                break;
1fc1535dec29 Alias/Position selection.
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parents: 1144
diff changeset
   177
1fc1535dec29 Alias/Position selection.
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diff changeset
   178
            case 'p':
1158
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diff changeset
   179
                str.clear();
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   180
                str.str("");
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diff changeset
   181
                str << optarg;
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diff changeset
   182
                str >> resetiosflags(ios::basefield) // guess base from prefix
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   183
                    >> slavePosition;
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diff changeset
   184
                if (str.fail()
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diff changeset
   185
                        || slavePosition < 0 || slavePosition > 0xFFFF) {
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   186
                    cerr << "Invalid slave position " << optarg << "!" << endl
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   187
                        << endl << usage();
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diff changeset
   188
                    exit(1);
1122
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diff changeset
   189
                }
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diff changeset
   190
                break;
ee305a780a02 First step of moving to command list.
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parents: 1121
diff changeset
   191
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parents: 1121
diff changeset
   192
            case 'd':
1158
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   193
                str.clear();
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   194
                str.str("");
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   195
                str << optarg;
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   196
                str >> resetiosflags(ios::basefield) // guess base from prefix
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   197
                    >> domainIndex;
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   198
                if (str.fail() || domainIndex < 0) {
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   199
                    cerr << "Invalid domain index " << optarg << "!" << endl
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   200
                        << endl << usage();
f65164fa4a58 Removed parameter values 'all'.
Florian Pose <fp@igh-essen.com>
parents: 1151
diff changeset
   201
                    exit(1);
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   202
                }
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   203
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   204
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   205
            case 't':
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Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   206
                dataTypeStr = optarg;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   207
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   208
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1222
diff changeset
   209
            case 'o':
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1222
diff changeset
   210
                outputFile = optarg;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1222
diff changeset
   211
                break;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1222
diff changeset
   212
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   213
            case 'f':
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parents: 1121
diff changeset
   214
                force = true;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   215
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   216
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   217
            case 'q':
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   218
                verbosity = Command::Quiet;
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   219
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   220
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   221
            case 'v':
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   222
                verbosity = Command::Verbose;
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   223
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   224
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   225
            case 'h':
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   226
                helpRequested = true;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   227
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   228
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   229
            case '?':
1144
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   230
                cerr << endl << usage();
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   231
                exit(1);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   232
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   233
            default:
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   234
                break;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   235
        }
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   236
    }
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   237
    while (c != -1);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   238
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   239
	argCount = argc - optind;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   240
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   241
    if (!argCount) {
1144
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   242
        if (helpRequested) {
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   243
            cout << usage();
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   244
            exit(0);
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   245
        } else {
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   246
            cerr << "Please specify a command!" << endl
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   247
                << endl << usage();
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   248
            exit(1);
7dbfdd61812c Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents: 1142
diff changeset
   249
        }
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   250
	}
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   251
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   252
    commandName = argv[optind];
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   253
    while (++optind < argc)
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   254
        commandArgs.push_back(string(argv[optind]));
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   255
}
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   256
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   257
/****************************************************************************/
ee305a780a02 First step of moving to command list.
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parents: 1121
diff changeset
   258
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   259
list<Command *> getMatchingCommands(const string &cmdStr)
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents: 1121
diff changeset
   260
{
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   261
    CommandList::iterator ci;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   262
    list<Command *> res;
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   263
1127
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   264
    // find matching commands from beginning of the string
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   265
    for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   266
        if ((*ci)->matchesSubstr(cmdStr)) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   267
            res.push_back(*ci);
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   268
        }
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   269
    }
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   270
1127
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   271
    if (!res.size()) { // nothing found
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   272
        // find /any/ matching commands
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   273
        for (ci = commandList.begin(); ci != commandList.end(); ci++) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   274
            if ((*ci)->matchesAbbrev(cmdStr)) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents: 1139
diff changeset
   275
                res.push_back(*ci);
1127
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   276
            }
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   277
        }
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   278
    }
bd7aef6c310c Improved abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   279
1125
9976f7b9fe66 Command abbreviation.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   280
    return res;
1122
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}
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/****************************************************************************/
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int main(int argc, char **argv)
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{
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    int retval = 0;
1142
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    list<Command *> matchingCommands;
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    list<Command *>::const_iterator ci;
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    Command *cmd;
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    binaryBaseName = basename(argv[0]);
1142
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   293
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandAlias());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandConfig());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandData());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandDebug());
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    commandList.push_back(new CommandDomains());
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    commandList.push_back(new CommandDownload());
1485
5ddc3a455059 ethercat eoe command.
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    commandList.push_back(new CommandEoe());
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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    commandList.push_back(new CommandFoeRead());
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
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    commandList.push_back(new CommandFoeWrite());
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d41e4537b75f Added 'ethercat graph' command.
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    commandList.push_back(new CommandGraph());
1142
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    commandList.push_back(new CommandMaster());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandPdos());
1388
3c886ec376f5 Renamed phy_ commands to reg_.
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    commandList.push_back(new CommandRegRead());
3c886ec376f5 Renamed phy_ commands to reg_.
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    commandList.push_back(new CommandRegWrite());
1142
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    commandList.push_back(new CommandSdos());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandSiiRead());
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    commandList.push_back(new CommandSiiWrite());
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    commandList.push_back(new CommandSlaves());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandStates());
59be91dfcbe1 Redesigned command interface.
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    commandList.push_back(new CommandUpload());
1165
c5d6e28eec91 Added 'ethercat version' command.
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   314
    commandList.push_back(new CommandVersion());
1142
59be91dfcbe1 Redesigned command interface.
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   315
    commandList.push_back(new CommandXml());
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	getOptions(argc, argv);
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1142
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    matchingCommands = getMatchingCommands(commandName);
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    masterDev.setIndex(masterIndex);
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59be91dfcbe1 Redesigned command interface.
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    if (matchingCommands.size()) {
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   323
        if (matchingCommands.size() == 1) {
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            cmd = matchingCommands.front();
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            if (!helpRequested) {
1142
59be91dfcbe1 Redesigned command interface.
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   326
                try {
1144
7dbfdd61812c Bugfixes and improvements.
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                    cmd->setVerbosity(verbosity);
1151
1fc1535dec29 Alias/Position selection.
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                    cmd->setAlias(slaveAlias);
1fc1535dec29 Alias/Position selection.
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                    cmd->setPosition(slavePosition);
1166
006244d53f68 Removed global variables.
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                    cmd->setDomain(domainIndex);
006244d53f68 Removed global variables.
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                    cmd->setDataType(dataTypeStr);
1335
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   332
                    cmd->setOutputFile(outputFile);
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006244d53f68 Removed global variables.
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   333
                    cmd->setForce(force);
1142
59be91dfcbe1 Redesigned command interface.
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   334
                    cmd->execute(masterDev, commandArgs);
59be91dfcbe1 Redesigned command interface.
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   335
                } catch (InvalidUsageException &e) {
59be91dfcbe1 Redesigned command interface.
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   336
                    cerr << e.what() << endl << endl;
1144
7dbfdd61812c Bugfixes and improvements.
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   337
                    cerr << binaryBaseName << " " << cmd->helpString();
1142
59be91dfcbe1 Redesigned command interface.
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   338
                    retval = 1;
59be91dfcbe1 Redesigned command interface.
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   339
                } catch (CommandException &e) {
59be91dfcbe1 Redesigned command interface.
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   340
                    cerr << e.what() << endl;
59be91dfcbe1 Redesigned command interface.
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   341
                    retval = 1;
59be91dfcbe1 Redesigned command interface.
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   342
                } catch (MasterDeviceException &e) {
59be91dfcbe1 Redesigned command interface.
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   343
                    cerr << e.what() << endl;
59be91dfcbe1 Redesigned command interface.
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   344
                    retval = 1;
59be91dfcbe1 Redesigned command interface.
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   345
                }
1125
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   346
            } else {
1144
7dbfdd61812c Bugfixes and improvements.
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   347
                cout << binaryBaseName << " " << cmd->helpString();
1125
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   348
            }
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   349
        } else {
1128
b69b2c850160 Fixed typos.
Florian Pose <fp@igh-essen.com>
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diff changeset
   350
            cerr << "Ambiguous command abbreviation! Matching:" << endl;
1142
59be91dfcbe1 Redesigned command interface.
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   351
            for (ci = matchingCommands.begin();
59be91dfcbe1 Redesigned command interface.
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   352
                    ci != matchingCommands.end();
59be91dfcbe1 Redesigned command interface.
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   353
                    ci++) {
59be91dfcbe1 Redesigned command interface.
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   354
                cerr << (*ci)->getName() << endl;
1125
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   355
            }
1144
7dbfdd61812c Bugfixes and improvements.
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diff changeset
   356
            cerr << endl << usage();
1125
9976f7b9fe66 Command abbreviation.
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   357
            retval = 1;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
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diff changeset
   358
        }
1125
9976f7b9fe66 Command abbreviation.
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   359
    } else {
1144
7dbfdd61812c Bugfixes and improvements.
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diff changeset
   360
        cerr << "Unknown command " << commandName << "!" << endl
7dbfdd61812c Bugfixes and improvements.
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diff changeset
   361
            << endl << usage();
1122
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   362
        retval = 1;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
    }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
1122
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   365
	return retval;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   366
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff changeset
   367
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
/****************************************************************************/