fp@1200: /*****************************************************************************
fp@1200:  *
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@1200:  *
fp@1200:  ****************************************************************************/
fp@1200: 
fp@1200: #include <iostream>
fp@1200: #include <iomanip>
fp@1200: #include <fstream>
fp@1200: using namespace std;
fp@1200: 
fp@1200: #include "CommandPhyWrite.h"
fp@1200: #include "sii_crc.h"
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1200: CommandPhyWrite::CommandPhyWrite():
fp@1200:     Command("phy_write", "Write data to a slave's physical memory.")
fp@1200: {
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1200: string CommandPhyWrite::helpString() const
fp@1200: {
fp@1200:     stringstream str;
fp@1200: 
fp@1200:     str << getName() << " [OPTIONS] <OFFSET> <FILENAME>" << endl
fp@1200:         << endl 
fp@1200:         << getBriefDescription() << endl
fp@1200:         << endl
fp@1200:         << "This command requires a single slave to be selected." << endl
fp@1200:     	<< endl
fp@1200:         << "Arguments:" << endl
fp@1200:         << "  OFFSET   must be the physical memory offset to start." << endl
fp@1200:         << "  FILENAME must be a path to a file with data to write." << endl
fp@1200:         << "           If it is '-', data are read from stdin." << endl
fp@1200:         << endl
fp@1200:         << "Command-specific options:" << endl
fp@1200:         << "  --alias    -a <alias>" << endl
fp@1200:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1200:         << "                         the 'slaves' command." << endl
fp@1200:         << endl
fp@1200:         << numericInfo();
fp@1200: 
fp@1200:     return str.str();
fp@1200: }
fp@1200: 
fp@1200: /****************************************************************************/
fp@1200: 
fp@1200: void CommandPhyWrite::execute(MasterDevice &m, const StringVector &args)
fp@1200: {
fp@1200:     stringstream strOffset, err;
fp@1200:     ec_ioctl_slave_phy_t data;
fp@1200:     ifstream file;
fp@1200:     SlaveList slaves;
fp@1200: 
fp@1200:     if (args.size() != 2) {
fp@1383:         err << "'" << getName() << "' takes exactly two arguments!";
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200:     
fp@1200:     strOffset << args[0];
fp@1200:     strOffset
fp@1200:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1200:         >> data.offset;
fp@1200:     if (strOffset.fail()) {
fp@1200:         err << "Invalid offset '" << args[0] << "'!";
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200: 
fp@1200:     if (args[1] == "-") {
fp@1200:         loadPhyData(&data, cin);
fp@1200:     } else {
fp@1200:         file.open(args[1].c_str(), ifstream::in | ifstream::binary);
fp@1200:         if (file.fail()) {
fp@1200:             err << "Failed to open '" << args[0] << "'!";
fp@1200:             throwCommandException(err);
fp@1200:         }
fp@1200:         loadPhyData(&data, file);
fp@1200:         file.close();
fp@1200:     }
fp@1200: 
fp@1200:     if ((uint32_t) data.offset + data.length > 0xffff) {
fp@1200:         err << "Offset and length exceeding 64k!";
fp@1200:         delete [] data.data;
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200: 
fp@1200:     try {
fp@1200:         m.open(MasterDevice::ReadWrite);
fp@1200:     } catch (MasterDeviceException &e) {
fp@1200:         delete [] data.data;
fp@1200:         throw e;
fp@1200:     }
fp@1200: 
fp@1200:     slaves = selectedSlaves(m);
fp@1200:     if (slaves.size() != 1) {
fp@1200:         delete [] data.data;
fp@1200:         throwSingleSlaveRequired(slaves.size());
fp@1200:     }
fp@1200:     data.slave_position = slaves.front().position;
fp@1200: 
fp@1200:     // send data to master
fp@1200:     try {
fp@1200:         m.writePhy(&data);
fp@1200:     } catch (MasterDeviceException &e) {
fp@1200:         delete [] data.data;
fp@1200:         throw e;
fp@1200:     }
fp@1200: 
fp@1200:     if (getVerbosity() == Verbose) {
fp@1200:         cerr << "Physical memory writing finished." << endl;
fp@1200:     }
fp@1200: 
fp@1200:     delete [] data.data;
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1200: void CommandPhyWrite::loadPhyData(
fp@1200:         ec_ioctl_slave_phy_t *data,
fp@1200:         const istream &in
fp@1200:         )
fp@1200: {
fp@1200:     stringstream err;
fp@1200:     ostringstream tmp;
fp@1200: 
fp@1200:     tmp << in.rdbuf();
fp@1200:     string const &contents = tmp.str();
fp@1200: 
fp@1200:     if (getVerbosity() == Verbose) {
fp@1200:         cerr << "Read " << contents.size() << " bytes of data." << endl;
fp@1200:     }
fp@1200: 
fp@1200:     if (contents.size() > 0xffff) {
fp@1200:         err << "Invalid data size " << contents.size() << "!";
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200:     data->length = contents.size();
fp@1200: 
fp@1200:     // allocate buffer and read file into buffer
fp@1200:     data->data = new uint8_t[data->length];
fp@1200:     contents.copy((char *) data->data, contents.size());
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/