fp@1335: /*****************************************************************************
fp@1335:  *
fp@1363:  *  $Id$
fp@1363:  *
fp@1363:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1363:  *
fp@1363:  *  This file is part of the IgH EtherCAT Master.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1363:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1363:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1363:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1335:  *
fp@1335:  ****************************************************************************/
fp@1335: 
fp@1335: #include <libgen.h> // basename()
fp@1357: #include <string.h>
fp@1335: 
fp@1335: #include <iostream>
fp@1335: #include <iomanip>
fp@1335: #include <fstream>
fp@1335: using namespace std;
fp@1335: 
fp@1335: #include "CommandFoeWrite.h"
fp@1336: #include "foe.h"
fp@1826: #include "MasterDevice.h"
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: CommandFoeWrite::CommandFoeWrite():
fp@1335:     FoeCommand("foe_write", "Store a file on a slave via FoE.")
fp@1335: {
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1968: string CommandFoeWrite::helpString(const string &binaryBaseName) const
fp@1335: {
fp@1335:     stringstream str;
fp@1335: 
fp@1968:     str << binaryBaseName << " " << getName()
fp@1968:         << " [OPTIONS] <FILENAME>" << endl
fp@1335:         << endl
fp@1335:         << getBriefDescription() << endl
fp@1335:         << endl
fp@1335:         << "This command requires a single slave to be selected." << endl
fp@1804:         << endl
fp@1335:         << "Arguments:" << endl
fp@1335:         << "  FILENAME can either be a path to a file, or '-'. In" << endl
fp@1335:         << "           the latter case, data are read from stdin and" << endl
fp@1335:         << "           the --output-file option has to be specified." << endl
fp@1335:         << endl
fp@1335:         << "Command-specific options:" << endl
fp@1335:         << "  --output-file -o <file>   Target filename on the slave." << endl
fp@1335:         << "                            If the FILENAME argument is" << endl
fp@1335:         << "                            '-', this is mandatory." << endl
fp@1335:         << "                            Otherwise, the basename() of" << endl
fp@1335:         << "                            FILENAME is used by default." << endl
fp@1335:         << "  --alias       -a <alias>" << endl
fp@1335:         << "  --position    -p <pos>    Slave selection. See the help" << endl
fp@1335:         << "                            of the 'slaves' command." << endl
fp@1335:         << endl
fp@1335:         << numericInfo();
fp@1335: 
fp@1335:     return str.str();
fp@1335: }
fp@1335: 
fp@1335: /****************************************************************************/
fp@1335: 
fp@1826: void CommandFoeWrite::execute(const StringVector &args)
fp@1335: {
fp@1335:     stringstream err;
fp@1335:     ec_ioctl_slave_foe_t data;
fp@1335:     ifstream file;
fp@1335:     SlaveList slaves;
fp@1335:     string storeFileName;
fp@1335: 
fp@1335:     if (args.size() != 1) {
fp@1335:         err << "'" << getName() << "' takes exactly one argument!";
fp@1335:         throwInvalidUsageException(err);
fp@1335:     }
fp@1335: 
fp@1335:     if (args[0] == "-") {
fp@1335:         loadFoeData(&data, cin);
fp@1335:         if (getOutputFile().empty()) {
fp@1335:             err << "Please specify a filename for the slave side"
fp@1335:                 << " with --output-file!";
fp@1335:             throwCommandException(err);
fp@1335:         } else {
fp@1335:             storeFileName = getOutputFile();
fp@1335:         }
fp@1335:     } else {
fp@1335:         file.open(args[0].c_str(), ifstream::in | ifstream::binary);
fp@1335:         if (file.fail()) {
fp@1335:             err << "Failed to open '" << args[0] << "'!";
fp@1335:             throwCommandException(err);
fp@1335:         }
fp@1335:         loadFoeData(&data, file);
fp@1335:         file.close();
fp@1335:         if (getOutputFile().empty()) {
fp@1335:             char *cpy = strdup(args[0].c_str()); // basename can modify
fp@1335:                                                  // the string contents
fp@1335:             storeFileName = basename(cpy);
fp@1335:             free(cpy);
fp@1335:         } else {
fp@1335:             storeFileName = getOutputFile();
fp@1335:         }
fp@1335:     }
fp@1335: 
fp@1870:     MasterDevice m(getSingleMasterIndex());
fp@1335:     try {
fp@1335:         m.open(MasterDevice::ReadWrite);
fp@1335:     } catch (MasterDeviceException &e) {
fp@1335:         if (data.buffer_size)
fp@1335:             delete [] data.buffer;
fp@1335:         throw e;
fp@1335:     }
fp@1335: 
fp@1335:     slaves = selectedSlaves(m);
fp@1335:     if (slaves.size() != 1) {
fp@1335:         if (data.buffer_size)
fp@1335:             delete [] data.buffer;
fp@1335:         throwSingleSlaveRequired(slaves.size());
fp@1335:     }
fp@1335:     data.slave_position = slaves.front().position;
fp@1335: 
fp@1335:     // write data via foe to the slave
fp@1335:     data.offset = 0;
fp@1335:     strncpy(data.file_name, storeFileName.c_str(), sizeof(data.file_name));
fp@1335: 
fp@1335:     try {
fp@1335:         m.writeFoe(&data);
fp@1335:     } catch (MasterDeviceException &e) {
fp@1335:         if (data.buffer_size)
fp@1335:             delete [] data.buffer;
fp@1336:         if (data.result) {
fp@1336:             if (data.result == FOE_OPCODE_ERROR) {
fp@1336:                 err << "FoE write aborted with error code 0x"
fp@1336:                     << setw(8) << setfill('0') << hex << data.error_code
fp@1336:                     << ": " << errorText(data.error_code);
fp@1336:             } else {
fp@1336:                 err << "Failed to write via FoE: "
fp@1336:                     << resultText(data.result);
fp@1336:             }
fp@1335:             throwCommandException(err);
fp@1335:         } else {
fp@1335:             throw e;
fp@1335:         }
fp@1335:     }
fp@1335: 
fp@1335:     if (getVerbosity() == Verbose) {
fp@1335:         cerr << "FoE writing finished." << endl;
fp@1335:     }
fp@1335: 
fp@1335:     if (data.buffer_size)
fp@1335:         delete [] data.buffer;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: void CommandFoeWrite::loadFoeData(
fp@1335:         ec_ioctl_slave_foe_t *data,
fp@1335:         const istream &in
fp@1335:         )
fp@1335: {
fp@1335:     stringstream err;
fp@1335:     ostringstream tmp;
fp@1335: 
fp@1335:     tmp << in.rdbuf();
fp@1335:     string const &contents = tmp.str();
fp@1335: 
fp@1335:     if (getVerbosity() == Verbose) {
fp@1335:         cerr << "Read " << contents.size() << " bytes of FoE data." << endl;
fp@1335:     }
fp@1335: 
fp@1335:     data->buffer_size = contents.size();
fp@1335: 
fp@1335:     if (data->buffer_size) {
fp@1335:         // allocate buffer and read file into buffer
fp@1335:         data->buffer = new uint8_t[data->buffer_size];
fp@1335:         contents.copy((char *) data->buffer, contents.size());
fp@1335:     }
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/