/*****************************************************************************
*
* $Id$
*
* 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>
#include <fstream>
using namespace std;
#include "CommandRegWrite.h"
#include "sii_crc.h"
/*****************************************************************************/
CommandRegWrite::CommandRegWrite():
CommandReg("reg_write", "Write data to a slave's registers.")
{
}
/*****************************************************************************/
string CommandRegWrite::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
<< " OFFSET is the register address to write to." << endl
<< " DATA depends on whether a datatype was specified" << endl
<< " with the --type option: If not, DATA must be" << endl
<< " either a path to a file with data to write," << endl
<< " or '-', which means, that data are read from" << endl
<< " stdin. If a datatype was specified, VALUE is" << endl
<< " interpreted respective to the given type." << endl
<< endl
<< "These are the valid data types:" << endl
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
<< " uint64, string." << 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 CommandRegWrite::execute(MasterDevice &m, const StringVector &args)
{
stringstream strOffset, err;
ec_ioctl_slave_reg_t data;
ifstream file;
SlaveList slaves;
if (args.size() != 2) {
err << "'" << getName() << "' takes exactly 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 (getDataType().empty()) {
if (args[1] == "-") {
loadRegData(&data, cin);
} else {
file.open(args[1].c_str(), ifstream::in | ifstream::binary);
if (file.fail()) {
err << "Failed to open '" << args[1] << "'!";
throwCommandException(err);
}
loadRegData(&data, file);
file.close();
}
} else {
stringstream strValue;
const DataType *dataType = findDataType(getDataType());
if (!dataType) {
err << "Invalid data type '" << getDataType() << "'!";
throwInvalidUsageException(err);
}
if (dataType->byteSize) {
data.length = dataType->byteSize;
data.data = new uint8_t[data.length];
}
strValue << args[1];
strValue >> resetiosflags(ios::basefield); // guess base from prefix
strValue.exceptions(ios::failbit);
try {
if (string(dataType->name) == "int8") {
int16_t val; // uint8_t is interpreted as char
strValue >> val;
if (val > 127 || val < -128)
throw ios::failure("Value out of range");
*data.data = (int8_t) val;
} else if (string(dataType->name) == "int16") {
int16_t val;
strValue >> val;
*(int16_t *) data.data = cpu_to_le16(val);
} else if (string(dataType->name) == "int32") {
int32_t val;
strValue >> val;
*(int32_t *) data.data = cpu_to_le32(val);
} else if (string(dataType->name) == "int64") {
int64_t val;
strValue >> val;
*(int64_t *) data.data = cpu_to_le64(val);
} else if (string(dataType->name) == "uint8") {
uint16_t val; // uint8_t is interpreted as char
strValue >> val;
if (val > 0xff)
throw ios::failure("Value out of range");
*data.data = (uint8_t) val;
} else if (string(dataType->name) == "uint16") {
uint16_t val;
strValue >> val;
*(uint16_t *) data.data = cpu_to_le16(val);
} else if (string(dataType->name) == "uint32") {
uint32_t val;
strValue >> val;
*(uint32_t *) data.data = cpu_to_le32(val);
} else if (string(dataType->name) == "uint64") {
uint64_t val;
strValue >> val;
*(uint64_t *) data.data = cpu_to_le64(val);
} else if (string(dataType->name) == "string" ||
string(dataType->name) == "octet_string") {
data.length = strValue.str().size();
if (!data.length) {
err << "Zero-size string now allowed!";
throwCommandException(err);
}
data.data = new uint8_t[data.length];
strValue >> (char *) data.data;
} else {
err << "Invalid data type " << dataType->name;
throwCommandException(err);
}
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << args[1]
<< "' for type '" << dataType->name << "'!";
throwInvalidUsageException(err);
}
}
if ((uint32_t) data.offset + data.length > 0xffff) {
err << "Offset and length exceeding 64k!";
delete [] data.data;
throwInvalidUsageException(err);
}
try {
m.open(MasterDevice::ReadWrite);
} catch (MasterDeviceException &e) {
delete [] data.data;
throw e;
}
slaves = selectedSlaves(m);
if (slaves.size() != 1) {
delete [] data.data;
throwSingleSlaveRequired(slaves.size());
}
data.slave_position = slaves.front().position;
// send data to master
try {
m.writeReg(&data);
} catch (MasterDeviceException &e) {
delete [] data.data;
throw e;
}
if (getVerbosity() == Verbose) {
cerr << "Register writing finished." << endl;
}
delete [] data.data;
}
/*****************************************************************************/
void CommandRegWrite::loadRegData(
ec_ioctl_slave_reg_t *data,
const istream &in
)
{
stringstream err;
ostringstream tmp;
tmp << in.rdbuf();
string const &contents = tmp.str();
if (getVerbosity() == Verbose) {
cerr << "Read " << contents.size() << " bytes of data." << endl;
}
if (contents.size() > 0xffff) {
err << "Invalid data size " << contents.size() << "!";
throwInvalidUsageException(err);
}
data->length = contents.size();
// allocate buffer and read file into buffer
data->data = new uint8_t[data->length];
contents.copy((char *) data->data, contents.size());
}
/*****************************************************************************/