6 

     6 

     7 #include <getopt.h>

     7 #include <getopt.h>

     8 

     8 

     9 #include <iostream>

     9 #include <iostream>

    10 #include <string>

    10 #include <string>

    11 using namespace std;

    12 using namespace std;

    12 

    13 

    13 #include "Master.h"

    14 #include "Master.h"

    14 

    15 

    15 /*****************************************************************************/

    16 /*****************************************************************************/

    21 

    22 

    22 static unsigned int masterIndex = DEFAULT_MASTER;

    23 static unsigned int masterIndex = DEFAULT_MASTER;

    23 static int slavePosition = DEFAULT_SLAVEPOSITION;

    24 static int slavePosition = DEFAULT_SLAVEPOSITION;

    24 static int domainIndex = DEFAULT_DOMAININDEX;

    25 static int domainIndex = DEFAULT_DOMAININDEX;

    25 static string command = DEFAULT_COMMAND;

    26 static string command = DEFAULT_COMMAND;

    26 

    28 

    27 /*****************************************************************************/

    29 /*****************************************************************************/

    28 

    30 

    29 void printUsage()

    31 void printUsage()

    30 {

    32 {

    31     cerr

    33     cerr

    32         << "Usage: ethercat <COMMAND> [OPTIONS]" << endl

    34         << "Usage: ethercat <COMMAND> [OPTIONS]" << endl

    33 		<< "Commands:" << endl

    35 		<< "Commands:" << endl

    34         << "  data               Output binary domain process data." << endl

    36         << "  data               Output binary domain process data." << endl

    35         << "  domain             Show domain information." << endl

    38         << "  domain             Show domain information." << endl

    36         << "  list (ls, slaves)  List all slaves (former 'lsec')." << endl

    39         << "  list (ls, slaves)  List all slaves (former 'lsec')." << endl

    37         << "  pdos               List Pdo mapping of given slaves." << endl

    40         << "  pdos               List Pdo mapping of given slaves." << endl

    38         << "  xml                Generate slave information xml." << endl

    41         << "  xml                Generate slave information xml." << endl

    39 		<< "Global options:" << endl

    42 		<< "Global options:" << endl

   129 		printUsage();

   132 		printUsage();

   130         exit(1);

   133         exit(1);

   131 	}

   134 	}

   132 

   135 

   133     command = argv[optind];

   136     command = argv[optind];

   134 }

   139 }

   135 

   140 

   136 /****************************************************************************/

   141 /****************************************************************************/

   137 

   142 

   138 int main(int argc, char **argv)

   143 int main(int argc, char **argv)

   144     try {

   149     try {

   145         master.open(masterIndex);

   150         master.open(masterIndex);

   146 

   151 

   147         if (command == "data") {

   152         if (command == "data") {

   148             master.outputData(domainIndex);

   153             master.outputData(domainIndex);

   149         } else if (command == "domain") {

   156         } else if (command == "domain") {

   150             master.showDomains(domainIndex);

   157             master.showDomains(domainIndex);

   151 		} else if (command == "list" || command == "ls" || command == "slaves") {

   158 		} else if (command == "list" || command == "ls" || command == "slaves") {

   152             master.listSlaves();

   159             master.listSlaves();

   153         } else if (command == "pdos") {

   160         } else if (command == "pdos") {