/*****************************************************************************
 *
 *  $Id$
 *
 *  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 "CommandData.h"

/*****************************************************************************/

CommandData::CommandData():
    Command("data", "Output binary domain process data.")
{
}

/*****************************************************************************/

string CommandData::helpString() const
{
    stringstream str;

    str << getName() << " [OPTIONS]" << endl
    	<< endl
    	<< getBriefDescription() << endl
        << endl
        << "Data of multiple domains are concatenated." << endl
    	<< endl
    	<< "Command-specific options:" << endl
    	<< "  --domain -d <index>  Positive numerical domain index." << endl
    	<< "                       If omitted, data of all domains" << endl
    	<< "                       are output." << endl
    	<< endl
		<< numericInfo();

	return str.str();
}

/****************************************************************************/

void CommandData::execute(MasterDevice &m, const StringVector &args)
{
	DomainList domains;
	DomainList::const_iterator di;
	
    if (args.size()) {
        stringstream err;
        err << "'" << getName() << "' takes no arguments!";
        throwInvalidUsageException(err);
    }

    m.open(MasterDevice::Read);
	domains = selectedDomains(m);

	for (di = domains.begin(); di != domains.end(); di++) {
		outputDomainData(m, *di);
	}
}

/****************************************************************************/

void CommandData::outputDomainData(
		MasterDevice &m,
		const ec_ioctl_domain_t &domain
		)
{
    ec_ioctl_domain_data_t data;
    unsigned char *processData;
    unsigned int i;
    
    if (!domain.data_size)
        return;

    processData = new unsigned char[domain.data_size];

    try {
        m.getData(&data, domain.index, domain.data_size, processData);
    } catch (MasterDeviceException &e) {
        delete [] processData;
        throw e;
    }

    for (i = 0; i < data.data_size; i++)
        cout << processData[i];
    cout.flush();

    delete [] processData;
}

/****************************************************************************/