--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandSoeRead.cpp	Mon Mar 01 18:33:42 2010 +0100
@@ -0,0 +1,142 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandSoeRead.h"
+#include "MasterDevice.h"
+
+/*****************************************************************************/
+
+CommandSoeRead::CommandSoeRead():
+    Command("soe_read", "Read an SoE IDN from a slave.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandSoeRead::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
+        << endl
+        << getBriefDescription() << endl
+        << endl
+        << "This command requires a single slave to be selected." << endl
+        << endl
+        << "Arguments:" << endl
+        << "  IDN      is the IDN and must be an unsigned" << endl
+        << "           16 bit number." << endl
+        << endl
+        << "Command-specific options:" << endl
+        << "  --alias    -a <alias>" << endl
+        << "  --position -p <pos>    Slave selection. See the help of" << endl
+        << "                         the 'slaves' command." << endl
+        << endl
+        << numericInfo();
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandSoeRead::execute(const StringVector &args)
+{
+    SlaveList slaves;
+    stringstream err, strIdn;
+    ec_ioctl_slave_soe_t data;
+
+    if (args.size() != 1) {
+        err << "'" << getName() << "' takes one argument!";
+        throwInvalidUsageException(err);
+    }
+
+    strIdn << args[0];
+    strIdn
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.idn;
+    if (strIdn.fail()) {
+        err << "Invalid IDN '" << args[0] << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    if (getMasterIndices().size() != 1) {
+        err << getName() << " requires to select a single master!";
+        throwInvalidUsageException(err);
+    }
+    MasterDevice m(getMasterIndices().front());
+    m.open(MasterDevice::Read);
+    slaves = selectedSlaves(m);
+    if (slaves.size() != 1) {
+        throwSingleSlaveRequired(slaves.size());
+    }
+    data.slave_position = slaves.front().position;
+
+	data.mem_size = 1024;
+    data.data = new uint8_t[data.mem_size + 1];
+
+    try {
+        m.readSoe(&data);
+    } catch (MasterDeviceSoeException &e) {
+        delete [] data.data;
+        err << "CoE read command aborted with code 0x"
+            << setfill('0') << hex << setw(4) << e.errorCode;
+        throwCommandException(err);
+    } catch (MasterDeviceException &e) {
+        delete [] data.data;
+        throw e;
+    }
+
+    m.close();
+
+	printRawData(data.data, data.data_size);
+
+    delete [] data.data;
+}
+
+/****************************************************************************/
+
+void CommandSoeRead::printRawData(
+        const uint8_t *data,
+        unsigned int size
+        )
+{
+    cout << hex << setfill('0');
+    while (size--) {
+        cout << "0x" << setw(2) << (unsigned int) *data++;
+        if (size)
+            cout << " ";
+    }
+    cout << endl;
+}
+
+/*****************************************************************************/