--- a/tools/main.cpp Mon Jun 09 14:32:16 2008 +0000
+++ b/tools/main.cpp Tue Jun 10 08:48:50 2008 +0000
@@ -24,6 +24,7 @@
vector<string> commandArgs;
static bool quiet = false;
string dataTypeStr;
+bool force = false;
/*****************************************************************************/
@@ -32,6 +33,7 @@
cerr
<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl
<< "Commands:" << endl
+ << " alias Write alias address(es)." << endl
<< " data Output binary domain process data." << endl
<< " debug Set the master debug level." << endl
<< " domain Show domain information." << endl
@@ -42,6 +44,7 @@
<< " sdo_download (sd) Write an Sdo entry." << endl
<< " sdo_upload (su) Read an Sdo entry." << endl
<< " sii_read (sr) Output a slave's SII contents." << endl
+ << " sii_write (sw) Write slave's SII contents." << endl
<< " state Request slave states." << endl
<< " xml Generate slave information xmls." << endl
<< "Global options:" << endl
@@ -56,6 +59,7 @@
<< " or 'all' for all domains (default)."
<< endl
<< " --type -t <type> Forced Sdo data type." << endl
+ << " --force -f Force action." << endl
<< " --quiet -q Show less output." << endl
<< " --help -h Show this help." << endl;
}
@@ -73,13 +77,14 @@
{"slave", required_argument, NULL, 's'},
{"domain", required_argument, NULL, 'd'},
{"type", required_argument, NULL, 't'},
+ {"force", no_argument, NULL, 'f'},
{"quiet", no_argument, NULL, 'q'},
{"help", no_argument, NULL, 'h'},
{}
};
do {
- c = getopt_long(argc, argv, "m:s:d:t:qh", longOptions, &optionIndex);
+ c = getopt_long(argc, argv, "m:s:d:t:fqh", longOptions, &optionIndex);
switch (c) {
case 'm':
@@ -127,6 +132,10 @@
dataTypeStr = optarg;
break;
+ case 'f':
+ force = true;
+ break;
+
case 'q':
quiet = true;
break;
@@ -166,7 +175,9 @@
try {
master.setIndex(masterIndex);
- if (command == "data") {
+ if (command == "alias") {
+ master.writeAlias(slavePosition, force, commandArgs);
+ } else if (command == "data") {
master.outputData(domainIndex);
} else if (command == "debug") {
master.setDebug(commandArgs);
@@ -186,6 +197,8 @@
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sii_read" || command == "sr") {
master.siiRead(slavePosition);
+ } else if (command == "sii_write" || command == "sw") {
+ master.siiWrite(slavePosition, force, commandArgs);
} else if (command == "state") {
master.requestStates(slavePosition, commandArgs);
} else if (command == "xml") {