/*****************************************************************************
*
* $Id$
*
* 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 <map>
using namespace std;
#include "Command.h"
#include "MasterDevice.h"
#include "NumberListParser.h"
/*****************************************************************************/
typedef map<uint16_t, ec_ioctl_config_t> AliasMap;
typedef map<uint16_t, AliasMap> ConfigMap;
/*****************************************************************************/
class MasterIndexParser:
public NumberListParser
{
protected:
int getMax() {
MasterDevice dev;
dev.setIndex(0U);
dev.open(MasterDevice::Read);
return (int) dev.getMasterCount() - 1;
};
};
/*****************************************************************************/
class SlaveAliasParser:
public NumberListParser
{
public:
SlaveAliasParser(ec_ioctl_master_t &master, MasterDevice &dev):
master(master), dev(dev) {}
protected:
int getMax() {
unsigned int i;
uint16_t maxAlias = 0;
for (i = 0; i < master.slave_count; i++) {
ec_ioctl_slave_t slave;
dev.getSlave(&slave, i);
if (slave.alias > maxAlias) {
maxAlias = slave.alias;
}
}
return maxAlias ? maxAlias : -1;
};
private:
ec_ioctl_master_t &master;
MasterDevice &dev;
};
/*****************************************************************************/
class ConfigAliasParser:
public NumberListParser
{
public:
ConfigAliasParser(unsigned int maxAlias):
maxAlias(maxAlias) {}
protected:
int getMax() { return maxAlias; };
private:
unsigned int maxAlias;
};
/*****************************************************************************/
class PositionParser:
public NumberListParser
{
public:
PositionParser(unsigned int count):
count(count) {}
protected:
int getMax() {
return count - 1;
};
private:
const unsigned int count;
};
/*****************************************************************************/
class AliasPositionParser:
public NumberListParser
{
public:
AliasPositionParser(const AliasMap &aliasMap):
aliasMap(aliasMap) {}
protected:
int getMax() {
AliasMap::const_iterator i;
int maxPos = -1;
for (i = aliasMap.begin(); i != aliasMap.end(); i++) {
if (i->first > maxPos) {
maxPos = i->first;
}
}
return maxPos;
};
private:
const AliasMap &aliasMap;
};
/*****************************************************************************/
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::setAliases(const string &a)
{
aliases = a;
};
/*****************************************************************************/
void Command::setPositions(const string &p)
{
positions = p;
};
/*****************************************************************************/
void Command::setDomains(const string &d)
{
domains = d;
};
/*****************************************************************************/
void Command::setDataType(const string &t)
{
dataType = t;
};
/*****************************************************************************/
void Command::setForce(bool f)
{
force = f;
};
/*****************************************************************************/
void Command::setOutputFile(const string &f)
{
outputFile = f;
};
/*****************************************************************************/
void Command::setSkin(const string &s)
{
skin = s;
};
/****************************************************************************/
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;
ec_ioctl_slave_t slave;
SlaveList list;
m.getMaster(&master);
if (aliases == "-") { // no alias given
PositionParser pp(master.slave_count);
NumberListParser::List posList = pp.parse(positions.c_str());
NumberListParser::List::const_iterator pi;
for (pi = posList.begin(); pi != posList.end(); pi++) {
if (*pi < master.slave_count) {
m.getSlave(&slave, *pi);
list.push_back(slave);
}
}
} else { // aliases given
SlaveAliasParser ap(master, m);
NumberListParser::List aliasList = ap.parse(aliases.c_str());
NumberListParser::List::const_iterator ai;
for (ai = aliasList.begin(); ai != aliasList.end(); ai++) {
// gather slaves with that alias (and following)
uint16_t lastAlias = 0;
vector<ec_ioctl_slave_t> aliasSlaves;
for (i = 0; i < master.slave_count; i++) {
m.getSlave(&slave, i);
if (slave.alias) {
if (lastAlias && lastAlias == *ai && slave.alias != *ai) {
// ignore multiple ocurrences of the same alias to
// assure consistency for the position argument
break;
}
lastAlias = slave.alias;
}
if (lastAlias == *ai) {
aliasSlaves.push_back(slave);
}
}
PositionParser pp(aliasSlaves.size());
NumberListParser::List posList = pp.parse(positions.c_str());
NumberListParser::List::const_iterator pi;
for (pi = posList.begin(); pi != posList.end(); pi++) {
if (*pi < aliasSlaves.size()) {
list.push_back(aliasSlaves[*pi]);
}
}
}
}
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 (aliases == "-" && positions == "-") { // shortcut
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
list.push_back(config);
}
} else { // take the long way home...
ConfigMap configs;
uint16_t maxAlias = 0;
// fill cascaded map structure with all configs
for (i = 0; i < master.config_count; i++) {
m.getConfig(&config, i);
AliasMap &aliasMap = configs[config.alias];
aliasMap[config.position] = config;
if (config.alias > maxAlias) {
maxAlias = config.alias;
}
}
ConfigAliasParser ap(maxAlias);
NumberListParser::List aliasList = ap.parse(aliases.c_str());
NumberListParser::List::const_iterator ai;
for (ai = aliasList.begin(); ai != aliasList.end(); ai++) {
ConfigMap::iterator ci = configs.find(*ai);
if (ci == configs.end()) {
continue;
}
AliasMap &aliasMap = configs[*ai];
AliasPositionParser pp(aliasMap);
NumberListParser::List posList = pp.parse(positions.c_str());
NumberListParser::List::const_iterator pi;
for (pi = posList.begin(); pi != posList.end(); pi++) {
AliasMap::const_iterator ci;
ci = aliasMap.find(*pi);
if (ci != aliasMap.end()) {
list.push_back(ci->second);
}
}
}
}
list.sort();
return list;
}
/****************************************************************************/
Command::DomainList Command::selectedDomains(MasterDevice &m)
{
ec_ioctl_master_t master;
DomainList list;
m.getMaster(&master);
PositionParser pp(master.domain_count);
NumberListParser::List domList = pp.parse(domains.c_str());
NumberListParser::List::const_iterator di;
for (di = domList.begin(); di != domList.end(); di++) {
if (*di < master.domain_count) {
ec_ioctl_domain_t d;
m.getDomain(&d, *di);
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;
}
/****************************************************************************/