/*****************************************************************************
*
* $Id$
*
* 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 <getopt.h>
#include <libgen.h> // basename()
#include <stdlib.h>
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandAlias.h"
#include "CommandConfig.h"
#include "CommandData.h"
#include "CommandDebug.h"
#include "CommandDomains.h"
#include "CommandDownload.h"
#include "CommandFoeRead.h"
#include "CommandFoeWrite.h"
#include "CommandGraph.h"
#include "CommandMaster.h"
#include "CommandPdos.h"
#include "CommandRegRead.h"
#include "CommandRegWrite.h"
#include "CommandSdos.h"
#include "CommandSiiRead.h"
#include "CommandSiiWrite.h"
#include "CommandSlaves.h"
#include "CommandStates.h"
#include "CommandUpload.h"
#include "CommandVersion.h"
#include "CommandXml.h"
/*****************************************************************************/
typedef list<Command *> CommandList;
CommandList commandList;
MasterDevice masterDev;
string binaryBaseName;
string commandName;
Command::StringVector commandArgs;
// option variables
unsigned int masterIndex = 0;
int slavePosition = -1;
int slaveAlias = -1;
int domainIndex = -1;
string dataTypeStr;
Command::Verbosity verbosity = Command::Normal;
bool force = false;
bool helpRequested = false;
string outputFile;
/*****************************************************************************/
string usage()
{
stringstream str;
CommandList::const_iterator ci;
size_t maxWidth = 0;
for (ci = commandList.begin(); ci != commandList.end(); ci++) {
if ((*ci)->getName().length() > maxWidth) {
maxWidth = (*ci)->getName().length();
}
}
str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
<< endl << endl
<< "Commands (can be abbreviated):" << endl;
str << left;
for (ci = commandList.begin(); ci != commandList.end(); ci++) {
str << " " << setw(maxWidth) << (*ci)->getName()
<< " " << (*ci)->getBriefDescription() << endl;
}
str << endl
<< "Global options:" << endl
<< " --master -m <master> Index of the master to use. Default: 0."
<< endl
<< " --force -f Force a command." << endl
<< " --quiet -q Output less information." << endl
<< " --verbose -v Output more information." << endl
<< " --help -h Show this help." << endl
<< endl
<< Command::numericInfo()
<< endl
<< "Call '" << binaryBaseName
<< " <COMMAND> --help' for command-specific help." << endl
<< endl
<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
return str.str();
}
/*****************************************************************************/
void getOptions(int argc, char **argv)
{
int c, argCount;
stringstream str;
static struct option longOptions[] = {
//name, has_arg, flag, val
{"master", required_argument, NULL, 'm'},
{"alias", required_argument, NULL, 'a'},
{"position", required_argument, NULL, 'p'},
{"domain", required_argument, NULL, 'd'},
{"type", required_argument, NULL, 't'},
{"output-file", required_argument, NULL, 'o'},
{"force", no_argument, NULL, 'f'},
{"quiet", no_argument, NULL, 'q'},
{"verbose", no_argument, NULL, 'v'},
{"help", no_argument, NULL, 'h'},
{}
};
do {
c = getopt_long(argc, argv, "m:a:p:d:t:o:fqvh", longOptions, NULL);
switch (c) {
case 'm':
str.clear();
str.str("");
str << optarg;
str >> resetiosflags(ios::basefield) // guess base from prefix
>> masterIndex;
if (str.fail() || masterIndex < 0) {
cerr << "Invalid master number " << optarg << "!" << endl
<< endl << usage();
exit(1);
}
break;
case 'a':
str.clear();
str.str("");
str << optarg;
str >> resetiosflags(ios::basefield) // guess base from prefix
>> slaveAlias;
if (str.fail() || slaveAlias < 0 || slaveAlias > 0xFFFF) {
cerr << "Invalid slave alias " << optarg << "!" << endl
<< endl << usage();
exit(1);
}
break;
case 'p':
str.clear();
str.str("");
str << optarg;
str >> resetiosflags(ios::basefield) // guess base from prefix
>> slavePosition;
if (str.fail()
|| slavePosition < 0 || slavePosition > 0xFFFF) {
cerr << "Invalid slave position " << optarg << "!" << endl
<< endl << usage();
exit(1);
}
break;
case 'd':
str.clear();
str.str("");
str << optarg;
str >> resetiosflags(ios::basefield) // guess base from prefix
>> domainIndex;
if (str.fail() || domainIndex < 0) {
cerr << "Invalid domain index " << optarg << "!" << endl
<< endl << usage();
exit(1);
}
break;
case 't':
dataTypeStr = optarg;
break;
case 'o':
outputFile = optarg;
break;
case 'f':
force = true;
break;
case 'q':
verbosity = Command::Quiet;
break;
case 'v':
verbosity = Command::Verbose;
break;
case 'h':
helpRequested = true;
break;
case '?':
cerr << endl << usage();
exit(1);
default:
break;
}
}
while (c != -1);
argCount = argc - optind;
if (!argCount) {
if (helpRequested) {
cout << usage();
exit(0);
} else {
cerr << "Please specify a command!" << endl
<< endl << usage();
exit(1);
}
}
commandName = argv[optind];
while (++optind < argc)
commandArgs.push_back(string(argv[optind]));
}
/****************************************************************************/
list<Command *> getMatchingCommands(const string &cmdStr)
{
CommandList::iterator ci;
list<Command *> res;
// find matching commands from beginning of the string
for (ci = commandList.begin(); ci != commandList.end(); ci++) {
if ((*ci)->matchesSubstr(cmdStr)) {
res.push_back(*ci);
}
}
if (!res.size()) { // nothing found
// find /any/ matching commands
for (ci = commandList.begin(); ci != commandList.end(); ci++) {
if ((*ci)->matchesAbbrev(cmdStr)) {
res.push_back(*ci);
}
}
}
return res;
}
/****************************************************************************/
int main(int argc, char **argv)
{
int retval = 0;
list<Command *> matchingCommands;
list<Command *>::const_iterator ci;
Command *cmd;
binaryBaseName = basename(argv[0]);
commandList.push_back(new CommandAlias());
commandList.push_back(new CommandConfig());
commandList.push_back(new CommandData());
commandList.push_back(new CommandDebug());
commandList.push_back(new CommandDomains());
commandList.push_back(new CommandDownload());
commandList.push_back(new CommandFoeRead());
commandList.push_back(new CommandFoeWrite());
commandList.push_back(new CommandGraph());
commandList.push_back(new CommandMaster());
commandList.push_back(new CommandPdos());
commandList.push_back(new CommandRegRead());
commandList.push_back(new CommandRegWrite());
commandList.push_back(new CommandSdos());
commandList.push_back(new CommandSiiRead());
commandList.push_back(new CommandSiiWrite());
commandList.push_back(new CommandSlaves());
commandList.push_back(new CommandStates());
commandList.push_back(new CommandUpload());
commandList.push_back(new CommandVersion());
commandList.push_back(new CommandXml());
getOptions(argc, argv);
matchingCommands = getMatchingCommands(commandName);
masterDev.setIndex(masterIndex);
if (matchingCommands.size()) {
if (matchingCommands.size() == 1) {
cmd = matchingCommands.front();
if (!helpRequested) {
try {
cmd->setVerbosity(verbosity);
cmd->setAlias(slaveAlias);
cmd->setPosition(slavePosition);
cmd->setDomain(domainIndex);
cmd->setDataType(dataTypeStr);
cmd->setOutputFile(outputFile);
cmd->setForce(force);
cmd->execute(masterDev, commandArgs);
} catch (InvalidUsageException &e) {
cerr << e.what() << endl << endl;
cerr << binaryBaseName << " " << cmd->helpString();
retval = 1;
} catch (CommandException &e) {
cerr << e.what() << endl;
retval = 1;
} catch (MasterDeviceException &e) {
cerr << e.what() << endl;
retval = 1;
}
} else {
cout << binaryBaseName << " " << cmd->helpString();
}
} else {
cerr << "Ambiguous command abbreviation! Matching:" << endl;
for (ci = matchingCommands.begin();
ci != matchingCommands.end();
ci++) {
cerr << (*ci)->getName() << endl;
}
cerr << endl << usage();
retval = 1;
}
} else {
cerr << "Unknown command " << commandName << "!" << endl
<< endl << usage();
retval = 1;
}
return retval;
}
/****************************************************************************/