--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandRegRead.cpp Wed Apr 08 12:48:59 2009 +0000
@@ -0,0 +1,241 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * 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 "CommandRegRead.h"
+
+/*****************************************************************************/
+
+CommandRegRead::CommandRegRead():
+ Command("reg_read", "Output a slave's register contents.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandRegRead::helpString() const
+{
+ stringstream str;
+
+ str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "This command requires a single slave to be selected." << endl
+ << endl
+ << "Arguments:" << endl
+ << " OFFSET is the register address. Must" << endl
+ << " be an unsigned 16 bit number." << endl
+ << " LENGTH is the number of bytes to read and must also be" << endl
+ << " an unsigned 16 bit number. OFFSET plus LENGTH" << endl
+ << " may not exceed 64k. The length is ignored (and" << endl
+ << " can be omitted), if a selected data type" << endl
+ << " implies a length." << endl
+ << endl
+ << "These are the valid data types:" << endl
+ << " int8, int16, int32, int64, uint8, uint16, uint32," << endl
+ << " uint64, string, octet_string, raw." << 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 CommandRegRead::execute(MasterDevice &m, const StringVector &args)
+{
+ SlaveList slaves;
+ ec_ioctl_slave_reg_t data;
+ stringstream strOffset, err;
+ const DataType *dataType = NULL;
+
+ if (args.size() < 1 || args.size() > 2) {
+ err << "'" << getName() << "' takes one or two arguments!";
+ throwInvalidUsageException(err);
+ }
+
+ strOffset << args[0];
+ strOffset
+ >> resetiosflags(ios::basefield) // guess base from prefix
+ >> data.offset;
+ if (strOffset.fail()) {
+ err << "Invalid offset '" << args[0] << "'!";
+ throwInvalidUsageException(err);
+ }
+
+ if (args.size() > 1) {
+ stringstream strLength;
+ strLength << args[1];
+ strLength
+ >> resetiosflags(ios::basefield) // guess base from prefix
+ >> data.length;
+ if (strLength.fail()) {
+ err << "Invalid length '" << args[1] << "'!";
+ throwInvalidUsageException(err);
+ }
+
+ if (!data.length) {
+ err << "Length may not be zero!";
+ throwInvalidUsageException(err);
+ }
+ } else { // no length argument given
+ data.length = 0;
+ }
+
+ if (!getDataType().empty()) {
+ if (!(dataType = findDataType(getDataType()))) {
+ err << "Invalid data type '" << getDataType() << "'!";
+ throwInvalidUsageException(err);
+ }
+
+ if (dataType->byteSize) {
+ // override length argument
+ data.length = dataType->byteSize;
+ }
+ }
+
+ if (!data.length) {
+ err << "The length argument is mandatory, if no datatype is " << endl
+ << "specified, or the datatype does not imply a length!";
+ throwInvalidUsageException(err);
+ }
+
+ if ((uint32_t) data.offset + data.length > 0xffff) {
+ err << "Offset and length exceeding 64k!";
+ throwInvalidUsageException(err);
+ }
+
+ m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+
+ if (slaves.size() != 1) {
+ throwSingleSlaveRequired(slaves.size());
+ }
+ data.slave_position = slaves.front().position;
+
+ data.data = new uint8_t[data.length];
+
+ try {
+ m.readReg(&data);
+ } catch (MasterDeviceException &e) {
+ delete [] data.data;
+ throw e;
+ }
+
+ cout << setfill('0');
+ if (!dataType ||
+ dataType->name == "string" ||
+ dataType->name == "octet_string") {
+ uint16_t i;
+ for (i = 0; i < data.length; i++) {
+ cout << data.data[i];
+ }
+ } else if (dataType->name == "int8") {
+ int sval = *(int8_t *) data.data;
+ cout << sval << " 0x" << hex << setw(2) << sval << endl;
+ } else if (dataType->name == "int16") {
+ int sval = le16_to_cpup(data.data);
+ cout << sval << " 0x" << hex << setw(4) << sval << endl;
+ } else if (dataType->name == "int32") {
+ int sval = le32_to_cpup(data.data);
+ cout << sval << " 0x" << hex << setw(8) << sval << endl;
+ } else if (dataType->name == "int64") {
+ long long int sval = le64_to_cpup(data.data);
+ cout << sval << " 0x" << hex << setw(16) << sval << endl;
+ } else if (dataType->name == "uint8") {
+ unsigned int uval = (unsigned int) *(uint8_t *) data.data;
+ cout << uval << " 0x" << hex << setw(2) << uval << endl;
+ } else if (dataType->name == "uint16") {
+ unsigned int uval = le16_to_cpup(data.data);
+ cout << uval << " 0x" << hex << setw(4) << uval << endl;
+ } else if (dataType->name == "uint32") {
+ unsigned int uval = le32_to_cpup(data.data);
+ cout << uval << " 0x" << hex << setw(8) << uval << endl;
+ } else if (dataType->name == "uint64") {
+ long long unsigned int uval = le32_to_cpup(data.data);
+ cout << uval << " 0x" << hex << setw(8) << uval << endl;
+ } else {
+ uint8_t *d = data.data;
+ unsigned int size = data.length;
+
+ cout << hex << setfill('0');
+ while (size--) {
+ cout << "0x" << setw(2) << (unsigned int) *d++;
+ if (size)
+ cout << " ";
+ }
+ cout << endl;
+ }
+
+ delete [] data.data;
+}
+
+/****************************************************************************/
+
+const CommandRegRead::DataType *CommandRegRead::findDataType(
+ const string &str
+ )
+{
+ const DataType *d;
+
+ for (d = dataTypes; d->name; d++)
+ if (str == d->name)
+ return d;
+
+ return NULL;
+}
+
+/****************************************************************************/
+
+const CommandRegRead::DataType CommandRegRead::dataTypes[] = {
+ {"int8", 1},
+ {"int16", 2},
+ {"int32", 4},
+ {"int64", 8},
+ {"uint8", 1},
+ {"uint16", 2},
+ {"uint32", 4},
+ {"uint64", 8},
+ {"string", 0},
+ {"octet_string", 0},
+ {"raw", 0},
+ {}
+};
+
+/*****************************************************************************/