--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandSoeWrite.cpp	Fri Mar 05 15:32:56 2010 +0100
@@ -0,0 +1,160 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 "CommandSoeWrite.h"
+#include "MasterDevice.h"
+
+/*****************************************************************************/
+
+CommandSoeWrite::CommandSoeWrite():
+    Command("soe_write", "Write an SoE IDN to a slave.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandSoeWrite::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << 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
+        << "  VALUE    is the value to write and is interpreted" << endl
+        << "           as the given datatype (see above)." << endl
+        << endl
+        << "Command-specific options:" << endl
+        << "  --alias    -a <alias>" << endl
+        << "  --position -p <pos>    Slave selection. See the help of" << endl
+        << "                         the 'slaves' command." << endl
+        << "  --type     -t <type>   Data type (see above)." << endl
+        << endl
+        << numericInfo();
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandSoeWrite::execute(const StringVector &args)
+{
+    stringstream strIdn, err;
+    const DataType *dataType = NULL;
+    ec_ioctl_slave_soe_write_t ioctl;
+    SlaveList slaves;
+    size_t memSize;
+
+    if (args.size() != 2) {
+        err << "'" << getName() << "' takes 2 arguments!";
+        throwInvalidUsageException(err);
+    }
+
+    strIdn << args[0];
+    strIdn
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> ioctl.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::ReadWrite);
+    slaves = selectedSlaves(m);
+    if (slaves.size() != 1) {
+        throwSingleSlaveRequired(slaves.size());
+    }
+    ioctl.slave_position = slaves.front().position;
+
+    if (!getDataType().empty()) { // data type specified
+        if (!(dataType = findDataType(getDataType()))) {
+            err << "Invalid data type '" << getDataType() << "'!";
+            throwInvalidUsageException(err);
+        }
+    } else { // no data type specified
+        err << "Please specify a data type.";
+        throwInvalidUsageException(err); // FIXME read from stream
+    }
+
+    if (dataType->byteSize) {
+        memSize = dataType->byteSize;
+    } else {
+        // guess string type size
+        memSize = args[1].size();
+        if (!memSize) {
+            err << "Empty argument not allowed.";
+            throwInvalidUsageException(err);
+        }
+    }
+
+    ioctl.data = new uint8_t[memSize + 1];
+
+    try {
+        ioctl.data_size = interpretAsType(
+                dataType, args[1], ioctl.data, memSize);
+    } catch (SizeException &e) {
+        delete [] ioctl.data;
+        throwCommandException(e.what());
+    } catch (ios::failure &e) {
+        delete [] ioctl.data;
+        err << "Invalid value argument '" << args[1]
+            << "' for type '" << dataType->name << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    try {
+        m.writeSoe(&ioctl);
+    } catch (MasterDeviceSoeException &e) {
+        delete [] ioctl.data;
+        err << "SoE write command aborted with code 0x"
+            << setfill('0') << hex << setw(4) << e.errorCode << ".";
+        throwCommandException(err);
+    } catch (MasterDeviceException &e) {
+        delete [] ioctl.data;
+        throw e;
+    }
+
+    delete [] ioctl.data;
+}
+
+/*****************************************************************************/