tool/CommandStates.cpp
author Florian Pose <fp@igh-essen.com>
Wed, 15 Jul 2009 12:00:17 +0000
changeset 1505 da637f7e4e3a
parent 1363 11c0b2caa253
child 1826 ec6223c3b7ec
permissions -rw-r--r--
Added e100 for kernel 2.6.29, thanks to Andre Puschmann.
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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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/*****************************************************************************/
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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(MasterDevice &m, 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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    m.open(MasterDevice::ReadWrite);
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    slaves = selectedSlaves(m);
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    if (!slaves.size() && getVerbosity() != Quiet) {
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        cerr << "Warning: Selection matches no slaves!" << endl;
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    }
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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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/*****************************************************************************/