Data types for phy_read.
/*****************************************************************************
*
* $Id$
*
* 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 <algorithm>
using namespace std;
#include "CommandStates.h"
/*****************************************************************************/
CommandStates::CommandStates():
Command("states", "Request application-layer states.")
{
}
/*****************************************************************************/
string CommandStates::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS] <STATE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Arguments:" << endl
<< " STATE can be 'INIT', 'PREOP', 'BOOT', 'SAFEOP', or 'OP'." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< endl
<< numericInfo();
return str.str();
}
/****************************************************************************/
void CommandStates::execute(MasterDevice &m, const StringVector &args)
{
SlaveList slaves;
SlaveList::const_iterator si;
stringstream err;
string stateStr;
uint8_t state = 0x00;
if (args.size() != 1) {
err << "'" << getName() << "' takes exactly one argument!";
throwInvalidUsageException(err);
}
stateStr = args[0];
transform(stateStr.begin(), stateStr.end(),
stateStr.begin(), (int (*) (int)) std::toupper);
if (stateStr == "INIT") {
state = 0x01;
} else if (stateStr == "PREOP") {
state = 0x02;
} else if (stateStr == "BOOT") {
state = 0x03;
} else if (stateStr == "SAFEOP") {
state = 0x04;
} else if (stateStr == "OP") {
state = 0x08;
} else {
err << "Invalid state '" << args[0] << "'!";
throwInvalidUsageException(err);
}
m.open(MasterDevice::ReadWrite);
slaves = selectedSlaves(m);
if (!slaves.size() && getVerbosity() != Quiet) {
cerr << "Warning: Selection matches no slaves!" << endl;
}
for (si = slaves.begin(); si != slaves.end(); si++) {
m.requestState(si->position, state);
}
}
/*****************************************************************************/