fp@922: /*****************************************************************************
fp@922:  *
fp@922:  * $Id$
fp@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #include <getopt.h>
fp@1118: #include <libgen.h> // basename()
fp@922: 
fp@922: #include <iostream>
fp@922: #include <string>
fp@956: #include <vector>
fp@922: using namespace std;
fp@922: 
fp@1122: #include "globals.h"
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: string binaryBaseName;
fp@1122: unsigned int masterIndex = 0;
fp@1122: int slavePosition = -1;
fp@1122: int domainIndex = -1;
fp@1122: string command;
fp@956: vector<string> commandArgs;
fp@1122: Verbosity verbosity = Normal;
fp@968: string dataTypeStr;
fp@980: bool force = false;
fp@1122: 
fp@1121: bool helpRequested = false;
fp@922: 
fp@1122: MasterDevice masterDev;
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: struct Command {
fp@1122:     void (*func)(void);
fp@1122:     const char *helpString;
fp@1122: 
fp@1122:     int execute(void) const;
fp@1122:     void displayHelp(void) const;
fp@1122: };
fp@1122: 
fp@1122: struct CommandAlias {
fp@1122:     const char *name;
fp@1122:     const Command *command;
fp@1122: };
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: #define COMMAND(name) \
fp@1122:     void command_##name(void); \
fp@1122:     extern const char *help_##name; \
fp@1122:     const Command cmd_##name = {command_##name, help_##name};
fp@1122: 
fp@1122: COMMAND(alias);
fp@1122: COMMAND(config);
fp@1122: 
fp@1122: const CommandAlias commandAliases[] = {
fp@1122:     {"alias",  &cmd_alias},
fp@1122: 
fp@1122:     {"config", &cmd_config},
fp@1122:     {"conf",   &cmd_config},
fp@1122:     {"cf",     &cmd_config},
fp@1122: };
fp@1122: 
fp@1122: #if 0
fp@980:         } else if (command == "data") {
fp@949:             master.outputData(domainIndex);
fp@956:         } else if (command == "debug") {
fp@956:             master.setDebug(commandArgs);
fp@949:         } else if (command == "domain") {
fp@948:             master.showDomains(domainIndex);
fp@957: 		} else if (command == "master") {
fp@957:             master.showMaster();
fp@935:         } else if (command == "pdos") {
fp@1099:             master.listPdos(slavePosition);
fp@965:         } else if (command == "sdos") {
fp@1099:             master.listSdos(slavePosition);
fp@974:         } else if (command == "sdo_download" || command == "sd") {
fp@974:             master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
fp@968:         } else if (command == "sdo_upload" || command == "su") {
fp@968:             master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
fp@1065: 		} else if (command == "slave" || command == "slaves"
fp@1065:                 || command == "list" || command == "ls") {
fp@1099:             master.showSlaves(slavePosition);
fp@978:         } else if (command == "sii_read" || command == "sr") {
fp@978:             master.siiRead(slavePosition);
fp@980:         } else if (command == "sii_write" || command == "sw") {
fp@980:             master.siiWrite(slavePosition, force, commandArgs);
fp@960:         } else if (command == "state") {
fp@960:             master.requestStates(slavePosition, commandArgs);
fp@938:         } else if (command == "xml") {
fp@938:             master.generateXml(slavePosition);
fp@1122: #endif
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: void printUsage()
fp@1122: {
fp@1122:     cerr
fp@1122:         << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS]" << endl
fp@1122: 		<< "Commands:" << endl
fp@1122:         << "  alias         Write alias addresses." << endl
fp@1122:         << "  config        Show bus configuration." << endl
fp@1122:         << "  data          Output binary domain process data." << endl
fp@1122:         << "  debug         Set the master's debug level." << endl
fp@1122:         << "  domain        Show domain information." << endl
fp@1122:         << "  master        Show master information." << endl
fp@1122:         << "  pdos          List Pdo assignment/mapping." << endl
fp@1122:         << "  sdo_download  Write an Sdo entry." << endl
fp@1122:         << "  sdos          List Sdo dictionaries." << endl
fp@1122:         << "  sdo_upload    Read an Sdo entry." << endl
fp@1122:         << "  sii_read      Output a slave's SII contents." << endl
fp@1122:         << "  sii_write     Write slave's SII contents." << endl
fp@1122:         << "  slaves        Show slaves." << endl
fp@1122:         << "  state         Request slave states." << endl
fp@1122:         << "  xml           Generate slave information xmls." << endl
fp@1122: 		<< "Global options:" << endl
fp@1122:         << "  --master  -m <master>  Index of the master to use. Default: 0"
fp@1122: 		<< endl
fp@1122:         << "  --slave   -s <index>   Positive numerical ring position,"
fp@1122:         << endl
fp@1122:         << "                         or 'all' for all slaves (default)."
fp@1122:         << endl
fp@1122:         << "  --domain  -d <index>   Positive numerical index,"
fp@1122:         << endl
fp@1122:         << "                         or 'all' for all domains (default)."
fp@1122:         << endl
fp@1122:         << "  --type    -t <type>    Forced Sdo data type." << endl
fp@1122:         << "  --force   -f           Force action." << endl
fp@1122:         << "  --quiet   -q           Output less information." << endl
fp@1122:         << "  --verbose -v           Output more information." << endl
fp@1122:         << "  --help    -h           Show this help." << endl
fp@1122:         << "Call '" << binaryBaseName
fp@1122:         << " <COMMAND> --help' for command-specific help." << endl
fp@1122:         << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
fp@1122: }
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: void getOptions(int argc, char **argv)
fp@1122: {
fp@1122:     int c, argCount, optionIndex, number;
fp@1122: 	char *remainder;
fp@1122: 
fp@1122:     static struct option longOptions[] = {
fp@1122:         //name,     has_arg,           flag, val
fp@1122:         {"master",  required_argument, NULL, 'm'},
fp@1122:         {"slave",   required_argument, NULL, 's'},
fp@1122:         {"domain",  required_argument, NULL, 'd'},
fp@1122:         {"type",    required_argument, NULL, 't'},
fp@1122:         {"force",   no_argument,       NULL, 'f'},
fp@1122:         {"quiet",   no_argument,       NULL, 'q'},
fp@1122:         {"verbose", no_argument,       NULL, 'v'},
fp@1122:         {"help",    no_argument,       NULL, 'h'},
fp@1122:         {}
fp@1122:     };
fp@1122: 
fp@1122:     do {
fp@1122:         c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
fp@1122: 
fp@1122:         switch (c) {
fp@1122:             case 'm':
fp@1122:                 number = strtoul(optarg, &remainder, 0);
fp@1122:                 if (remainder == optarg || *remainder || number < 0) {
fp@1122:                     cerr << "Invalid master number " << optarg << "!" << endl;
fp@1122:                     printUsage();
fp@1122:                     exit(1);
fp@1122:                 }
fp@1122: 				masterIndex = number;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 's':
fp@1122:                 if (!strcmp(optarg, "all")) {
fp@1122:                     slavePosition = -1;
fp@1122:                 } else {
fp@1122:                     number = strtoul(optarg, &remainder, 0);
fp@1122:                     if (remainder == optarg || *remainder
fp@1122:                             || number < 0 || number > 0xFFFF) {
fp@1122:                         cerr << "Invalid slave position "
fp@1122:                             << optarg << "!" << endl;
fp@1122:                         printUsage();
fp@1122:                         exit(1);
fp@1122:                     }
fp@1122:                     slavePosition = number;
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'd':
fp@1122:                 if (!strcmp(optarg, "all")) {
fp@1122:                     domainIndex = -1;
fp@1122:                 } else {
fp@1122:                     number = strtoul(optarg, &remainder, 0);
fp@1122:                     if (remainder == optarg || *remainder || number < 0) {
fp@1122:                         cerr << "Invalid domain index "
fp@1122: 							<< optarg << "!" << endl;
fp@1122:                         printUsage();
fp@1122:                         exit(1);
fp@1122:                     }
fp@1122:                     domainIndex = number;
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1122:             case 't':
fp@1122:                 dataTypeStr = optarg;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'f':
fp@1122:                 force = true;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'q':
fp@1122:                 verbosity = Quiet;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'v':
fp@1122:                 verbosity = Verbose;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'h':
fp@1122:                 helpRequested = true;
fp@1122:                 break;
fp@1122: 
fp@1122:             case '?':
fp@1122:                 printUsage();
fp@1122:                 exit(1);
fp@1122: 
fp@1122:             default:
fp@1122:                 break;
fp@1122:         }
fp@1122:     }
fp@1122:     while (c != -1);
fp@1122: 
fp@1122: 	argCount = argc - optind;
fp@1122: 
fp@1122:     if (!argCount) {
fp@1122:         if (!helpRequested) {
fp@1122:             cerr << "Please specify a command!" << endl;
fp@1122:         }
fp@1122:         printUsage();
fp@1122:         exit(!helpRequested);
fp@1122: 	}
fp@1122: 
fp@1122:     command = argv[optind];
fp@1122:     while (++optind < argc)
fp@1122:         commandArgs.push_back(string(argv[optind]));
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: int Command::execute() const
fp@1122: {
fp@1122:     try {
fp@1122:         func();
fp@1122:     } catch (InvalidUsageException &e) {
fp@1122:         cerr << e.what() << endl << endl;
fp@1122:         displayHelp();
fp@1122:         return 1;
fp@1122:     } catch (ExecutionFailureException &e) {
fp@1122:         cerr << e.what() << endl;
fp@1122:         return 1;
fp@1122:     } catch (MasterDeviceException &e) {
fp@1122:         cerr << e.what() << endl;
fp@1122:         return 1;
fp@1122:     }
fp@1122: 
fp@1122:     return 0;
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void Command::displayHelp() const
fp@1122: {
fp@1122:     cerr << binaryBaseName << " " << command << " " << helpString;
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: int main(int argc, char **argv)
fp@1122: {
fp@1122:     int retval = 0;
fp@1122:     const CommandAlias *alias;
fp@1122:     const CommandAlias *endAlias =
fp@1122:         commandAliases + sizeof(commandAliases) / sizeof(CommandAlias);
fp@1122: 
fp@1122:     binaryBaseName = basename(argv[0]);
fp@1122: 	getOptions(argc, argv);
fp@1122: 
fp@1122:     // search command alias in alias map
fp@1122:     for (alias = commandAliases; alias < endAlias; alias++) {
fp@1122:         if (command == alias->name)
fp@1122:             break;
fp@1122:     }
fp@1122: 
fp@1122:     if (alias < endAlias) { // command alias found
fp@1122:         if (!helpRequested) {
fp@1122:             masterDev.setIndex(masterIndex);
fp@1122:             retval = alias->command->execute();
fp@935:         } else {
fp@1122:             alias->command->displayHelp();
fp@935:         }
fp@1122:     } else { // command not found
fp@1122:         cerr << "Unknown command " << command << "!" << endl << endl;
fp@1122:         printUsage();
fp@1122:         retval = 1;
fp@922:     }
fp@922: 
fp@1122: 	return retval;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/