author | Florian Pose <fp@igh-essen.com> |
Wed, 04 Jun 2008 14:35:40 +0000 | |
changeset 951 | dc84a0af63da |
parent 949 | e424c0074c67 |
child 953 | 3ed51c088582 |
permissions | -rw-r--r-- |
922
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Added the new ethercat comman-line tool with lsec functionality.
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parents:
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1 |
/***************************************************************************** |
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Added the new ethercat comman-line tool with lsec functionality.
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* |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
3 |
* $Id$ |
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parents:
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4 |
* |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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5 |
****************************************************************************/ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
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Added the new ethercat comman-line tool with lsec functionality.
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#include <getopt.h> |
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Added the new ethercat comman-line tool with lsec functionality.
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fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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9 |
#include <iostream> |
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Added the new ethercat comman-line tool with lsec functionality.
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|
10 |
#include <string> |
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Added the new ethercat comman-line tool with lsec functionality.
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|
11 |
using namespace std; |
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Added the new ethercat comman-line tool with lsec functionality.
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|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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13 |
#include "Master.h" |
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Added the new ethercat comman-line tool with lsec functionality.
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|
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Added the new ethercat comman-line tool with lsec functionality.
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|
15 |
/*****************************************************************************/ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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17 |
#define DEFAULT_MASTER 0 |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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18 |
#define DEFAULT_COMMAND "slaves" |
936 | 19 |
#define DEFAULT_SLAVEPOSITION -1 |
948
1cfab7161491
Implemented domain command.
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20 |
#define DEFAULT_DOMAININDEX -1 |
922
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Added the new ethercat comman-line tool with lsec functionality.
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|
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Added the new ethercat comman-line tool with lsec functionality.
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22 |
static unsigned int masterIndex = DEFAULT_MASTER; |
936 | 23 |
static int slavePosition = DEFAULT_SLAVEPOSITION; |
948
1cfab7161491
Implemented domain command.
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24 |
static int domainIndex = DEFAULT_DOMAININDEX; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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25 |
static string command = DEFAULT_COMMAND; |
fede1d8f5b71
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|
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Added the new ethercat comman-line tool with lsec functionality.
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/*****************************************************************************/ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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28 |
|
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Added the new ethercat comman-line tool with lsec functionality.
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29 |
void printUsage() |
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30 |
{ |
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Added the new ethercat comman-line tool with lsec functionality.
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31 |
cerr |
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32 |
<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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33 |
<< "Commands:" << endl |
949
e424c0074c67
Implemented 'data' command.
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34 |
<< " data Output binary domain process data." << endl |
948
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Implemented domain command.
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35 |
<< " domain Show domain information." << endl |
922
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Added the new ethercat comman-line tool with lsec functionality.
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36 |
<< " list (ls, slaves) List all slaves (former 'lsec')." << endl |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
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37 |
<< " pdos List Pdo mapping of given slaves." << endl |
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
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38 |
<< " xml Generate slave information xml." << endl |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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39 |
<< "Global options:" << endl |
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Added the new ethercat comman-line tool with lsec functionality.
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40 |
<< " --master -m <master> Index of the master to use. Default: " |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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41 |
<< DEFAULT_MASTER << endl |
948
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Implemented domain command.
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42 |
<< " --slave -s <index> Positive numerical ring position," |
936 | 43 |
<< endl |
44 |
<< " or 'all' for all slaves. Default: 'all'." |
|
45 |
<< endl |
|
948
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Implemented domain command.
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46 |
<< " --domain -d <index> Positive numerical index," |
1cfab7161491
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47 |
<< endl |
1cfab7161491
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48 |
<< " or 'all' for all domains. Default: " |
1cfab7161491
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49 |
<< "'all'." << endl |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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50 |
<< " --help -h Show this help." << endl; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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51 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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52 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
53 |
/*****************************************************************************/ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
54 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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55 |
void getOptions(int argc, char **argv) |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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56 |
{ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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57 |
int c, argCount, optionIndex, number; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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58 |
char *remainder; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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59 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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60 |
static struct option longOptions[] = { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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61 |
//name, has_arg, flag, val |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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62 |
{"master", required_argument, NULL, 'm'}, |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
63 |
{"slave", required_argument, NULL, 's'}, |
948
1cfab7161491
Implemented domain command.
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64 |
{"domain", required_argument, NULL, 'd'}, |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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65 |
{"help", no_argument, NULL, 'h'}, |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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66 |
{} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
67 |
}; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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68 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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69 |
do { |
948
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70 |
c = getopt_long(argc, argv, "m:s:d:h", longOptions, &optionIndex); |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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71 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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72 |
switch (c) { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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73 |
case 'm': |
fede1d8f5b71
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74 |
number = strtoul(optarg, &remainder, 0); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
75 |
if (remainder == optarg || *remainder || number < 0) { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
76 |
cerr << "Invalid master number " << optarg << "!" << endl; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
77 |
printUsage(); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
78 |
exit(1); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
79 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
80 |
masterIndex = number; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
81 |
break; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
82 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
83 |
case 's': |
936 | 84 |
if (!strcmp(optarg, "all")) { |
85 |
slavePosition = -1; |
|
86 |
} else { |
|
87 |
number = strtoul(optarg, &remainder, 0); |
|
88 |
if (remainder == optarg || *remainder |
|
89 |
|| number < 0 || number > 0xFFFF) { |
|
90 |
cerr << "Invalid slave position " |
|
91 |
<< optarg << "!" << endl; |
|
92 |
printUsage(); |
|
93 |
exit(1); |
|
94 |
} |
|
95 |
slavePosition = number; |
|
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Added 'pdos' command to ethercat tool.
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96 |
} |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
97 |
break; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
98 |
|
948
1cfab7161491
Implemented domain command.
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|
99 |
case 'd': |
1cfab7161491
Implemented domain command.
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|
100 |
if (!strcmp(optarg, "all")) { |
1cfab7161491
Implemented domain command.
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|
101 |
domainIndex = -1; |
1cfab7161491
Implemented domain command.
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|
102 |
} else { |
1cfab7161491
Implemented domain command.
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|
103 |
number = strtoul(optarg, &remainder, 0); |
1cfab7161491
Implemented domain command.
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|
104 |
if (remainder == optarg || *remainder || number < 0) { |
1cfab7161491
Implemented domain command.
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|
105 |
cerr << "Invalid domain index " |
1cfab7161491
Implemented domain command.
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|
106 |
<< optarg << "!" << endl; |
1cfab7161491
Implemented domain command.
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parents:
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|
107 |
printUsage(); |
1cfab7161491
Implemented domain command.
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|
108 |
exit(1); |
1cfab7161491
Implemented domain command.
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parents:
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|
109 |
} |
1cfab7161491
Implemented domain command.
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|
110 |
domainIndex = number; |
1cfab7161491
Implemented domain command.
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|
111 |
} |
1cfab7161491
Implemented domain command.
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parents:
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|
112 |
break; |
1cfab7161491
Implemented domain command.
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parents:
938
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|
113 |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff
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|
114 |
case 'h': |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
115 |
case '?': |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
116 |
printUsage(); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
117 |
exit(0); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
118 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
119 |
default: |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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|
120 |
break; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
121 |
} |
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Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
122 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
123 |
while (c != -1); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
124 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
125 |
argCount = argc - optind; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
126 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
127 |
if (!argCount) { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
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|
128 |
cerr << "Please specify a command!" << endl; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff
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|
129 |
printUsage(); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff
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|
130 |
exit(1); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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} |
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|
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command = argv[optind]; |
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} |
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135 |
|
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136 |
/****************************************************************************/ |
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137 |
|
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138 |
int main(int argc, char **argv) |
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139 |
{ |
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Master master; |
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141 |
|
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getOptions(argc, argv); |
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|
935
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try { |
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master.open(masterIndex); |
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146 |
|
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if (command == "data") { |
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master.outputData(domainIndex); |
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} else if (command == "domain") { |
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master.showDomains(domainIndex); |
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} else if (command == "list" || command == "ls" || command == "slaves") { |
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master.listSlaves(); |
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} else if (command == "pdos") { |
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master.listPdos(slavePosition); |
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} else if (command == "xml") { |
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master.generateXml(slavePosition); |
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157 |
} else { |
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cerr << "Unknown command " << command << "!" << endl; |
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printUsage(); |
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exit(1); |
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161 |
} |
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162 |
} catch (MasterException &e) { |
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cerr << e.what() << endl; |
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exit(1); |
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165 |
} |
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166 |
|
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167 |
return 0; |
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168 |
} |
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|
169 |
|
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|
170 |
/****************************************************************************/ |