author | Florian Pose <fp@igh-essen.com> |
Wed, 02 Jul 2008 11:26:51 +0000 | |
changeset 1079 | ef1266652c4d |
parent 1066 | 7ece00bd6559 |
child 1099 | eb8d16507d88 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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****************************************************************************/ |
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#include <getopt.h> |
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#include <iostream> |
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#include <string> |
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#include <vector> |
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using namespace std; |
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#include "Master.h" |
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/*****************************************************************************/ |
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#define DEFAULT_MASTER 0 |
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static unsigned int masterIndex = DEFAULT_MASTER; |
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static int slavePosition = -1; |
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static int domainIndex = -1; |
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static string command; |
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vector<string> commandArgs; |
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static bool quiet = false; |
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static bool verbose = false; |
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string dataTypeStr; |
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bool force = false; |
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|
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/*****************************************************************************/ |
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|
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void printUsage() |
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{ |
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cerr |
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<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl |
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<< "Commands:" << endl |
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<< " alias Write alias addresses." << endl |
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<< " config Show bus configuration." << endl |
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United 'ethercat slaves' and 'ethercat list' with a verbose flag.
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<< " data Output binary domain process data." << endl |
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<< " debug Set the master's debug level." << endl |
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<< " domain Show domain information." << endl |
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United 'ethercat slaves' and 'ethercat list' with a verbose flag.
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<< " master Show master information." << endl |
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<< " pdos List Pdo assignment/mapping." << endl |
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<< " sdo_download Write an Sdo entry." << endl |
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<< " sdos List Sdo dictionaries." << endl |
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<< " sdo_upload Read an Sdo entry." << endl |
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<< " sii_read Output a slave's SII contents." << endl |
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<< " sii_write Write slave's SII contents." << endl |
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<< " slaves Show slaves." << endl |
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<< " state Request slave states." << endl |
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<< " xml Generate slave information xmls." << endl |
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<< "Global options:" << endl |
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<< " --master -m <master> Index of the master to use. Default: " |
953 | 54 |
<< DEFAULT_MASTER << endl |
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<< " --slave -s <index> Positive numerical ring position," |
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<< endl |
953 | 57 |
<< " or 'all' for all slaves (default)." |
936 | 58 |
<< endl |
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<< " --domain -d <index> Positive numerical index," |
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<< endl |
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<< " or 'all' for all domains (default)." |
62 |
<< endl |
|
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<< " --type -t <type> Forced Sdo data type." << endl |
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<< " --force -f Force action." << 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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68 |
} |
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|
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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, optionIndex, number; |
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char *remainder; |
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|
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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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{"slave", required_argument, NULL, 's'}, |
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{"domain", required_argument, NULL, 'd'}, |
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{"type", required_argument, NULL, 't'}, |
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{"force", no_argument, NULL, 'f'}, |
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{"quiet", no_argument, NULL, 'q'}, |
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{"verbose", no_argument, NULL, 'v'}, |
d1d2aa556344
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{"help", no_argument, NULL, 'h'}, |
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{} |
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}; |
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|
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do { |
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c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex); |
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|
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switch (c) { |
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94 |
case 'm': |
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number = strtoul(optarg, &remainder, 0); |
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96 |
if (remainder == optarg || *remainder || number < 0) { |
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97 |
cerr << "Invalid master number " << optarg << "!" << endl; |
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Added the new ethercat comman-line tool with lsec functionality.
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98 |
printUsage(); |
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99 |
exit(1); |
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100 |
} |
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101 |
masterIndex = number; |
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102 |
break; |
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Added the new ethercat comman-line tool with lsec functionality.
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103 |
|
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Added the new ethercat comman-line tool with lsec functionality.
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104 |
case 's': |
936 | 105 |
if (!strcmp(optarg, "all")) { |
106 |
slavePosition = -1; |
|
107 |
} else { |
|
108 |
number = strtoul(optarg, &remainder, 0); |
|
109 |
if (remainder == optarg || *remainder |
|
110 |
|| number < 0 || number > 0xFFFF) { |
|
111 |
cerr << "Invalid slave position " |
|
112 |
<< optarg << "!" << endl; |
|
113 |
printUsage(); |
|
114 |
exit(1); |
|
115 |
} |
|
116 |
slavePosition = number; |
|
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Added 'pdos' command to ethercat tool.
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117 |
} |
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118 |
break; |
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Added the new ethercat comman-line tool with lsec functionality.
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119 |
|
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Implemented domain command.
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120 |
case 'd': |
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121 |
if (!strcmp(optarg, "all")) { |
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122 |
domainIndex = -1; |
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123 |
} else { |
1cfab7161491
Implemented domain command.
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parents:
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124 |
number = strtoul(optarg, &remainder, 0); |
1cfab7161491
Implemented domain command.
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125 |
if (remainder == optarg || *remainder || number < 0) { |
1cfab7161491
Implemented domain command.
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126 |
cerr << "Invalid domain index " |
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127 |
<< optarg << "!" << endl; |
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Implemented domain command.
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changeset
|
128 |
printUsage(); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
129 |
exit(1); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
130 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
131 |
domainIndex = number; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
132 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
133 |
break; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
134 |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
135 |
case 't': |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
136 |
dataTypeStr = optarg; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
137 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
138 |
|
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
139 |
case 'f': |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
140 |
force = true; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
141 |
break; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
142 |
|
966 | 143 |
case 'q': |
144 |
quiet = true; |
|
1065
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
145 |
verbose = false; |
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
146 |
break; |
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
147 |
|
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
148 |
case 'v': |
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
149 |
verbose = true; |
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
150 |
quiet = false; |
966 | 151 |
break; |
152 |
||
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
case 'h': |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
154 |
case '?': |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
printUsage(); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
exit(0); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
default: |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
break; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
while (c != -1); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
argCount = argc - optind; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
if (!argCount) { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
cerr << "Please specify a command!" << endl; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
printUsage(); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
exit(1); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
command = argv[optind]; |
956
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
953
diff
changeset
|
173 |
while (++optind < argc) |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
953
diff
changeset
|
174 |
commandArgs.push_back(string(argv[optind])); |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
/****************************************************************************/ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
int main(int argc, char **argv) |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
{ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
Master master; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
getOptions(argc, argv); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
185 |
try { |
972 | 186 |
master.setIndex(masterIndex); |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
|
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
188 |
if (command == "alias") { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
189 |
master.writeAlias(slavePosition, force, commandArgs); |
990
4f223f3df05a
Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
989
diff
changeset
|
190 |
} else if (command == "config") { |
1066
7ece00bd6559
Added configuration listing command.
Florian Pose <fp@igh-essen.com>
parents:
1065
diff
changeset
|
191 |
master.showConfigs(verbose); |
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
192 |
} else if (command == "data") { |
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
193 |
master.outputData(domainIndex); |
956
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
953
diff
changeset
|
194 |
} else if (command == "debug") { |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
953
diff
changeset
|
195 |
master.setDebug(commandArgs); |
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
196 |
} else if (command == "domain") { |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
197 |
master.showDomains(domainIndex); |
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
198 |
} else if (command == "master") { |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
199 |
master.showMaster(); |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
200 |
} else if (command == "pdos") { |
966 | 201 |
master.listPdos(slavePosition, quiet); |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
202 |
} else if (command == "sdos") { |
966 | 203 |
master.listSdos(slavePosition, quiet); |
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
204 |
} else if (command == "sdo_download" || command == "sd") { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
205 |
master.sdoDownload(slavePosition, dataTypeStr, commandArgs); |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
206 |
} else if (command == "sdo_upload" || command == "su") { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
207 |
master.sdoUpload(slavePosition, dataTypeStr, commandArgs); |
1065
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
208 |
} else if (command == "slave" || command == "slaves" |
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
209 |
|| command == "list" || command == "ls") { |
d1d2aa556344
United 'ethercat slaves' and 'ethercat list' with a verbose flag.
Florian Pose <fp@igh-essen.com>
parents:
990
diff
changeset
|
210 |
master.showSlaves(slavePosition, verbose); |
978 | 211 |
} else if (command == "sii_read" || command == "sr") { |
212 |
master.siiRead(slavePosition); |
|
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
213 |
} else if (command == "sii_write" || command == "sw") { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
214 |
master.siiWrite(slavePosition, force, commandArgs); |
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
215 |
} else if (command == "state") { |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
216 |
master.requestStates(slavePosition, commandArgs); |
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
217 |
} else if (command == "xml") { |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
218 |
master.generateXml(slavePosition); |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
219 |
} else { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
220 |
cerr << "Unknown command " << command << "!" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
221 |
printUsage(); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
222 |
exit(1); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
223 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
224 |
} catch (MasterException &e) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
225 |
cerr << e.what() << endl; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
exit(1); |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
return 0; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
/****************************************************************************/ |