1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#include <iostream>

    31

#include <iomanip>

    32

using namespace std;

    33

    34

#include "CommandRegRead.h"

    35

#include "MasterDevice.h"

    36

    37

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

    38

    39

CommandRegRead::CommandRegRead():

    40

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

    41

{

    42

}

    43

    44

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

    45

    46

string CommandRegRead::helpString(const string &binaryBaseName) const

    47

{

    48

    stringstream str;

    49

    50

    str << binaryBaseName << " " << getName()

    51

        << " [OPTIONS] <ADDRESS> [SIZE]" << endl

    52

        << endl

    53

        << getBriefDescription() << endl

    54

        << endl

    55

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

    56

        << endl

    57

        << "Arguments:" << endl

    58

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

    59

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

    60

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

    61

        << "          an unsigned 16 bit number. ADDRESS plus SIZE" << endl

    62

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

    63

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

    64

        << "          implies a size." << endl

    65

        << endl

    66

        << typeInfo()

    67

        << endl

    68

        << "Command-specific options:" << endl

    69

        << "  --alias    -a <alias>" << endl

    70

        << "  --position -p <pos>    Slave selection. See the help of" << endl

    71

        << "                         the 'slaves' command." << endl

    72

        << "  --type     -t <type>   Data type (see above)." << endl

    73

        << endl

    74

        << numericInfo();

    75

    76

    return str.str();

    77

}

    78

    79

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

    80

    81

void CommandRegRead::execute(const StringVector &args)

    82

{

    83

    SlaveList slaves;

    84

    ec_ioctl_slave_reg_t io;

    85

    stringstream strOffset, err;

    86

    const DataType *dataType = NULL;

    87

    88

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

    89

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

    90

        throwInvalidUsageException(err);

    91

    }

    92

    93

    strOffset << args[0];

    94

    strOffset

    95

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

    96

        >> io.address;

    97

    if (strOffset.fail()) {

    98

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

    99

        throwInvalidUsageException(err);

   100

    }

   101

   102

    if (args.size() > 1) {

   103

        stringstream strLength;

   104

        strLength << args[1];

   105

        strLength

   106

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

   107

            >> io.size;

   108

        if (strLength.fail()) {

   109

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

   110

            throwInvalidUsageException(err);

   111

        }

   112

   113

        if (!io.size) {

   114

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

   115

            throwInvalidUsageException(err);

   116

        }

   117

    } else { // no size argument given

   118

        io.size = 0;

   119

    }

   120

   121

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

   122

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

   123

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

   124

            throwInvalidUsageException(err);

   125

        }

   126

   127

        if (dataType->byteSize) {

   128

            // override size argument

   129

            io.size = dataType->byteSize;

   130

        }

   131

    }

   132

   133

    if (!io.size) {

   134

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

   135

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

   136

        throwInvalidUsageException(err);

   137

    }

   138

   139

    if ((uint32_t) io.address + io.size > 0xffff) {

   140

        err << "Address and size exceeding 64k!";

   141

        throwInvalidUsageException(err);

   142

    }

   143

   144

    MasterDevice m(getSingleMasterIndex());

   145

    m.open(MasterDevice::Read);

   146

    slaves = selectedSlaves(m);

   147

   148

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

   149

        throwSingleSlaveRequired(slaves.size());

   150

    }

   151

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

   152

    io.emergency = false;

   153

   154

    io.data = new uint8_t[io.size];

   155

   156

    try {

   157

        m.readReg(&io);

   158

    } catch (MasterDeviceException &e) {

   159

        delete [] io.data;

   160

        throw e;

   161

    }

   162

   163

    try {

   164

        outputData(cout, dataType, io.data, io.size);

   165

    } catch (SizeException &e) {

   166

        delete [] io.data;

   167

        throwCommandException(e.what());

   168

    }

   169

   170

    delete [] io.data;

   171

}

   172

   173

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