Removed printk().
/*****************************************************************************
*
* $Id$
*
* 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>
using namespace std;
#include "CommandSoeWrite.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandSoeWrite::CommandSoeWrite():
SoeCommand("soe_write", "Write an SoE IDN to a slave.")
{
}
/*****************************************************************************/
string CommandSoeWrite::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS] <IDN> <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 either an unsigned" << endl
<< " 16 bit number acc. to IEC 61800-7-204:" << endl
<< " Bit 15: (0) Standard data, (1) Product data" << endl
<< " Bit 14 - 12: Parameter set (0 - 7)" << endl
<< " Bit 11 - 0: Data block number" << endl
<< " or a string like 'P-0-150'." << endl
<< " VALUE is the value to write (see below)." << endl
<< endl
<< "The VALUE argument is interpreted as the given data type" << endl
<< "(--type is mandatory) and written to the selected slave." << endl
<< endl
<< typeInfo()
<< 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);
}
try {
ioctl.idn = parseIdn(args[0]);
} catch (runtime_error &e) {
err << "Invalid IDN '" << args[0] << "': " << e.what();
throwInvalidUsageException(err);
}
MasterDevice m(getSingleMasterIndex());
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() + 1;
if (!memSize) {
err << "Empty argument not allowed.";
throwInvalidUsageException(err);
}
}
ioctl.data = new uint8_t[memSize];
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 failed with code " << errorMsg(e.errorCode);
throwCommandException(err);
} catch (MasterDeviceException &e) {
delete [] ioctl.data;
throw e;
}
delete [] ioctl.data;
}
/*****************************************************************************/