Request initial configuration on tty open.
/*****************************************************************************
*
* $Id$
*
* 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>
using namespace std;
#include "CommandRegRead.h"
/*****************************************************************************/
CommandRegRead::CommandRegRead():
CommandReg("reg_read", "Output a slave's register contents.")
{
}
/*****************************************************************************/
string CommandRegRead::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
<< " OFFSET is the register address. Must" << endl
<< " be an unsigned 16 bit number." << endl
<< " LENGTH is the number of bytes to read and must also be" << endl
<< " an unsigned 16 bit number. OFFSET plus LENGTH" << endl
<< " may not exceed 64k. The length is ignored (and" << endl
<< " can be omitted), if a selected data type" << endl
<< " implies a length." << endl
<< endl
<< "These are the valid data types:" << endl
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
<< " uint64, string, raw." << 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 CommandRegRead::execute(MasterDevice &m, const StringVector &args)
{
SlaveList slaves;
ec_ioctl_slave_reg_t data;
stringstream strOffset, err;
const DataType *dataType = NULL;
if (args.size() < 1 || args.size() > 2) {
err << "'" << getName() << "' takes one or 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 (args.size() > 1) {
stringstream strLength;
strLength << args[1];
strLength
>> resetiosflags(ios::basefield) // guess base from prefix
>> data.length;
if (strLength.fail()) {
err << "Invalid length '" << args[1] << "'!";
throwInvalidUsageException(err);
}
if (!data.length) {
err << "Length may not be zero!";
throwInvalidUsageException(err);
}
} else { // no length argument given
data.length = 0;
}
if (!getDataType().empty()) {
if (!(dataType = findDataType(getDataType()))) {
err << "Invalid data type '" << getDataType() << "'!";
throwInvalidUsageException(err);
}
if (dataType->byteSize) {
// override length argument
data.length = dataType->byteSize;
}
}
if (!data.length) {
err << "The length argument is mandatory, if no datatype is " << endl
<< "specified, or the datatype does not imply a length!";
throwInvalidUsageException(err);
}
if ((uint32_t) data.offset + data.length > 0xffff) {
err << "Offset and length exceeding 64k!";
throwInvalidUsageException(err);
}
m.open(MasterDevice::Read);
slaves = selectedSlaves(m);
if (slaves.size() != 1) {
throwSingleSlaveRequired(slaves.size());
}
data.slave_position = slaves.front().position;
data.data = new uint8_t[data.length];
try {
m.readReg(&data);
} catch (MasterDeviceException &e) {
delete [] data.data;
throw e;
}
cout << setfill('0');
if (!dataType || string(dataType->name) == "string") {
uint16_t i;
for (i = 0; i < data.length; i++) {
cout << data.data[i];
}
if (dataType)
cout << endl;
} else if (string(dataType->name) == "int8") {
int val = (int) *data.data;
cout << "0x" << hex << setw(2) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "int16") {
int16_t val = le16_to_cpup(data.data);
cout << "0x" << hex << setw(4) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "int32") {
int32_t val = le32_to_cpup(data.data);
cout << "0x" << hex << setw(8) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "int64") {
int64_t val = le64_to_cpup(data.data);
cout << "0x" << hex << setw(16) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "uint8") {
unsigned int val = (unsigned int) *data.data;
cout << "0x" << hex << setw(2) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "uint16") {
uint16_t val = le16_to_cpup(data.data);
cout << "0x" << hex << setw(4) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "uint32") {
uint32_t val = le32_to_cpup(data.data);
cout << "0x" << hex << setw(8) << val << " " << dec << val << endl;
} else if (string(dataType->name) == "uint64") {
uint64_t val = le64_to_cpup(data.data);
cout << "0x" << hex << setw(16) << val << " " << dec << val << endl;
} else { // raw
uint8_t *d = data.data;
unsigned int size = data.length;
cout << hex << setfill('0');
while (size--) {
cout << "0x" << setw(2) << (unsigned int) *d++;
if (size)
cout << " ";
}
cout << endl;
}
delete [] data.data;
}
/*****************************************************************************/