/*****************************************************************************
*
* $Id$
*
* 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.
*
* vim: expandtab
*
****************************************************************************/
#include "Command.h"
#include "MasterDevice.h"
#include "NumberListParser.h"
/*****************************************************************************/
class MasterIndexParser:
public NumberListParser
{
unsigned int getMax()
{
MasterDevice dev;
dev.setIndex(0U);
dev.open(MasterDevice::Read);
return dev.getMasterCount() - 1;
};
};
/*****************************************************************************/
Command::Command(const string &name, const string &briefDesc):
name(name),
briefDesc(briefDesc),
verbosity(Normal)
{
}
/*****************************************************************************/
Command::~Command()
{
}
/*****************************************************************************/
void Command::setMasters(const string &m)
{
masters = m;
};
/*****************************************************************************/
void Command::setVerbosity(Verbosity v)
{
verbosity = v;
};
/*****************************************************************************/
void Command::setAlias(int a)
{
alias = a;
};
/*****************************************************************************/
void Command::setPosition(int p)
{
position = p;
};
/*****************************************************************************/
void Command::setDomain(int d)
{
domain = d;
};
/*****************************************************************************/
void Command::setDataType(const string &t)
{
dataType = t;
};
/*****************************************************************************/
void Command::setForce(bool f)
{
force = f;
};
/*****************************************************************************/
void Command::setOutputFile(const string &f)
{
outputFile = f;
};
/****************************************************************************/
bool Command::matchesSubstr(const string &cmd) const
{
return name.substr(0, cmd.length()) == cmd;
}
/****************************************************************************/
bool Command::matchesAbbrev(const string &abb) const
{
unsigned int i;
size_t pos = 0;
for (i = 0; i < abb.length(); i++) {
pos = name.find(abb[i], pos);
if (pos == string::npos)
return false;
}
return true;
}
/*****************************************************************************/
string Command::numericInfo()
{
stringstream str;
str << "Numerical values can be specified either with decimal (no" << endl
<< "prefix), octal (prefix '0') or hexadecimal (prefix '0x') base."
<< endl;
return str.str();
}
/*****************************************************************************/
void Command::throwInvalidUsageException(const stringstream &s) const
{
throw InvalidUsageException(s);
}
/*****************************************************************************/
void Command::throwCommandException(const string &msg) const
{
throw CommandException(msg);
}
/*****************************************************************************/
void Command::throwCommandException(const stringstream &s) const
{
throw CommandException(s);
}
/*****************************************************************************/
void Command::throwSingleSlaveRequired(unsigned int size) const
{
stringstream err;
err << "The slave selection matches " << size << " slaves. '"
<< name << "' requires a single slave.";
throwInvalidUsageException(err);
}
/*****************************************************************************/
Command::MasterIndexList Command::getMasterIndices() const
{
MasterIndexList indices;
try {
MasterIndexParser p;
indices = p.parse(masters.c_str());
} catch (MasterDeviceException &e) {
stringstream err;
err << "Failed to obtain number of masters: " << e.what();
throwCommandException(err);
} catch (runtime_error &e) {
stringstream err;
err << "Invalid master argument '" << masters << "': " << e.what();
throwInvalidUsageException(err);
}
return indices;
}
/*****************************************************************************/
unsigned int Command::getSingleMasterIndex() const
{
MasterIndexList masterIndices = getMasterIndices();
if (masterIndices.size() != 1) {
stringstream err;
err << getName() << " requires to select a single master!";
throwInvalidUsageException(err);
}
return masterIndices.front();
}
/*****************************************************************************/
Command::SlaveList Command::selectedSlaves(MasterDevice &m)
{
ec_ioctl_master_t master;
unsigned int i, aliasIndex;
uint16_t lastAlias;
ec_ioctl_slave_t slave;
SlaveList list;
m.getMaster(&master);
if (alias == -1) { // no alias given
if (position == -1) { // no alias and position given
// all items
for (i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
list.push_back(slave);
}
} else { // no alias, but position given
// one item by position
m.getSlave(&slave, position);
list.push_back(slave);
}
} else { // alias given
if (position == -1) { // alias, but no position given
// take all items with a given alias
lastAlias = 0;
for (i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
if (slave.alias) {
lastAlias = slave.alias;
}
if (lastAlias == (uint16_t) alias) {
list.push_back(slave);
}
}
} else { // alias and position given
lastAlias = 0;
aliasIndex = 0;
for (i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
if (slave.alias && slave.alias == (uint16_t) alias) {
lastAlias = slave.alias;
aliasIndex = 0;
}
if (lastAlias && aliasIndex == (unsigned int) position) {
list.push_back(slave);
}
aliasIndex++;
}
}
}
return list;
}
/*****************************************************************************/
bool operator<(
const ec_ioctl_config_t &a,
const ec_ioctl_config_t &b
)
{
return a.alias < b.alias
|| (a.alias == b.alias && a.position < b.position);
}
/*****************************************************************************/
Command::ConfigList Command::selectedConfigs(MasterDevice &m)
{
unsigned int i;
ec_ioctl_master_t master;
ec_ioctl_config_t config;
ConfigList list;
stringstream err;
m.getMaster(&master);
if (alias == -1) { // no alias given
if (position == -1) { // no alias and position given
// all items
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
list.push_back(config);
}
} else { // no alias, but position given
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
if (!config.alias && config.position == position) {
list.push_back(config);
break; // there can be at most one matching
}
}
}
} else { // alias given
if (position == -1) { // alias, but no position given
// take all items with a given alias
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
if (config.alias == alias) {
list.push_back(config);
}
}
} else { // alias and position given
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
if (config.alias == alias && config.position == position) {
list.push_back(config);
break; // there can be at most one matching
}
}
}
}
list.sort();
return list;
}
/****************************************************************************/
Command::DomainList Command::selectedDomains(MasterDevice &m)
{
ec_ioctl_domain_t d;
DomainList list;
if (domain == -1) {
ec_ioctl_master_t master;
unsigned int i;
m.getMaster(&master);
for (i = 0; i < master.domain_count; i++) {
m.getDomain(&d, i);
list.push_back(d);
}
} else {
m.getDomain(&d, domain);
list.push_back(d);
}
return list;
}
/****************************************************************************/
string Command::alStateString(uint8_t state)
{
string ret;
switch (state & EC_SLAVE_STATE_MASK) {
case 1: ret = "INIT"; break;
case 2: ret = "PREOP"; break;
case 3: ret = "BOOT"; break;
case 4: ret = "SAFEOP"; break;
case 8: ret = "OP"; break;
default: ret = "???";
}
if (state & EC_SLAVE_STATE_ACK_ERR) {
ret += "+ERROR";
}
return ret;
}
/****************************************************************************/