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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 <iomanip>

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using namespace std;

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#include "CommandRegRead.h"

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

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CommandRegRead::CommandRegRead():

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    CommandReg("reg_read", "Output a slave's register contents.")

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{

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}

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

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string CommandRegRead::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl

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    	<< endl

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    	<< getBriefDescription() << endl

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    	<< endl

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

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    	<< endl

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        << "Arguments:" << endl

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        << "  OFFSET is the register address. Must" << endl

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        << "         be an unsigned 16 bit number." << endl

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        << "  LENGTH is the number of bytes to read and must also be" << endl

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        << "         an unsigned 16 bit number. OFFSET plus LENGTH" << endl

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        << "         may not exceed 64k. The length is ignored (and" << endl

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        << "         can be omitted), if a selected data type" << endl

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        << "         implies a length." << endl

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        << endl

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        << "These are the valid data types:" << endl

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        << "  int8, int16, int32, int64, uint8, uint16, uint32," << endl

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        << "  uint64, string, raw." << 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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        << "  --type     -t <type>   Data type (see above)." << 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 CommandRegRead::execute(MasterDevice &m, const StringVector &args)

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{

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    SlaveList slaves;

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    ec_ioctl_slave_reg_t data;

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    stringstream strOffset, err;

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    const DataType *dataType = NULL;

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    if (args.size() < 1 || args.size() > 2) {

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        err << "'" << getName() << "' takes one or two arguments!";

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        throwInvalidUsageException(err);

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    }

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    strOffset << args[0];

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    strOffset

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

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        >> data.offset;

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    if (strOffset.fail()) {

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        err << "Invalid offset '" << args[0] << "'!";

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        throwInvalidUsageException(err);

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    }

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    if (args.size() > 1) {

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        stringstream strLength;

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        strLength << args[1];

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        strLength

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

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            >> data.length;

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        if (strLength.fail()) {

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            err << "Invalid length '" << args[1] << "'!";

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            throwInvalidUsageException(err);

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        }

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        if (!data.length) {

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            err << "Length may not be zero!";

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            throwInvalidUsageException(err);

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        }

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    } else { // no length argument given

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        data.length = 0;

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    }

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    if (!getDataType().empty()) {

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        if (!(dataType = findDataType(getDataType()))) {

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            err << "Invalid data type '" << getDataType() << "'!";

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            throwInvalidUsageException(err);

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        }

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        if (dataType->byteSize) {

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            // override length argument

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            data.length = dataType->byteSize;

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        }

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    }

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    if (!data.length) {

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        err << "The length argument is mandatory, if no datatype is " << endl

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            << "specified, or the datatype does not imply a length!";

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        throwInvalidUsageException(err);

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    }

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    if ((uint32_t) data.offset + data.length > 0xffff) {

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        err << "Offset and length exceeding 64k!";

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        throwInvalidUsageException(err);

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    }

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    m.open(MasterDevice::Read);

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    slaves = selectedSlaves(m);

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

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        throwSingleSlaveRequired(slaves.size());

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    }

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

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    data.data = new uint8_t[data.length];

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	try {

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		m.readReg(&data);

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	} catch (MasterDeviceException &e) {

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        delete [] data.data;

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		throw e;

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	}

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    cout << setfill('0');

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    if (!dataType || string(dataType->name) == "string") {

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        uint16_t i;

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        for (i = 0; i < data.length; i++) {

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            cout << data.data[i];

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        }

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        if (dataType)

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            cout << endl;

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    } else if (string(dataType->name) == "int8") {

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        int val = (int) *data.data;

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        cout << "0x" << hex << setw(2) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "int16") {

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        int16_t val = le16_to_cpup(data.data);

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        cout << "0x" << hex << setw(4) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "int32") {

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        int32_t val = le32_to_cpup(data.data);

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        cout << "0x" << hex << setw(8) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "int64") {

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        int64_t val = le64_to_cpup(data.data);

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        cout << "0x" << hex << setw(16) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "uint8") {

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        unsigned int val = (unsigned int) *data.data;

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        cout << "0x" << hex << setw(2) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "uint16") {

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        uint16_t val = le16_to_cpup(data.data);

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        cout << "0x" << hex << setw(4) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "uint32") {

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        uint32_t val = le32_to_cpup(data.data);

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        cout << "0x" << hex << setw(8) << val << " " << dec << val << endl;

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    } else if (string(dataType->name) == "uint64") {

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        uint64_t val = le64_to_cpup(data.data);

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        cout << "0x" << hex << setw(16) << val << " " << dec << val << endl;

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    } else { // raw

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        uint8_t *d = data.data;

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        unsigned int size = data.length;

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        cout << hex << setfill('0');

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        while (size--) {

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            cout << "0x" << setw(2) << (unsigned int) *d++;

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            if (size)

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                cout << " ";

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        }

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        cout << endl;

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    }

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    delete [] data.data;

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}

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