fp@1142: /*****************************************************************************
fp@1142:  *
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@1142:  *
fp@1880:  *  vim: expandtab
fp@1880:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@2010: #include <map>
fp@2010: using namespace std;
fp@2010: 
fp@1142: #include "Command.h"
fp@1826: #include "MasterDevice.h"
fp@1869: #include "NumberListParser.h"
fp@1869: 
fp@1869: /*****************************************************************************/
fp@1869: 
fp@2013: typedef map<uint16_t, ec_ioctl_config_t> AliasMap;
fp@2013: typedef map<uint16_t, AliasMap> ConfigMap;
fp@2013: 
fp@2013: /*****************************************************************************/
fp@2013: 
fp@1869: class MasterIndexParser:
fp@1869:     public NumberListParser
fp@1869: {
fp@2010:     protected:
fp@2010:         int getMax() {
fp@2010:             MasterDevice dev;
fp@2010:             dev.setIndex(0U);
fp@2010:             dev.open(MasterDevice::Read);
fp@2010:             return (int) dev.getMasterCount() - 1;
fp@2010:         };
fp@2010: };
fp@2010: 
fp@2010: /*****************************************************************************/
fp@2010: 
fp@2010: class SlaveAliasParser:
fp@2010:     public NumberListParser
fp@2010: {
fp@2010:     public:
fp@2010:         SlaveAliasParser(ec_ioctl_master_t &master, MasterDevice &dev):
fp@2010:             master(master), dev(dev) {}
fp@2010: 
fp@2010:     protected:
fp@2010:         int getMax() {
fp@2010:             unsigned int i;
fp@2010: 
fp@2010:             uint16_t maxAlias = 0;
fp@2010:             for (i = 0; i < master.slave_count; i++) {
fp@2010:                 ec_ioctl_slave_t slave;
fp@2010:                 dev.getSlave(&slave, i);
fp@2010:                 if (slave.alias > maxAlias) {
fp@2010:                     maxAlias = slave.alias;
fp@2010:                 }
fp@2010:             }
fp@2010:             return maxAlias ? maxAlias : -1;
fp@2010:         };
fp@2010: 
fp@2010:     private:
fp@2010:         ec_ioctl_master_t &master;
fp@2010:         MasterDevice &dev;
fp@2010: };
fp@2010: 
fp@2010: /*****************************************************************************/
fp@2010: 
fp@2010: class ConfigAliasParser:
fp@2010:     public NumberListParser
fp@2010: {
fp@2010:     public:
fp@2013:         ConfigAliasParser(unsigned int maxAlias):
fp@2013:             maxAlias(maxAlias) {}
fp@2010: 
fp@2010:     protected:
fp@2013:         int getMax() { return maxAlias; };
fp@2010: 
fp@2010:     private:
fp@2013:         unsigned int maxAlias;
fp@2010: };
fp@2010: 
fp@2010: /*****************************************************************************/
fp@2010: 
fp@2010: class PositionParser:
fp@2010:     public NumberListParser
fp@2010: {
fp@2010:     public:
fp@2010:         PositionParser(unsigned int count):
fp@2010:             count(count) {}
fp@2010: 
fp@2010:     protected:
fp@2010:         int getMax() {
fp@2010:             return count - 1;
fp@2010:         };
fp@2010: 
fp@2010:     private:
fp@2010:         const unsigned int count;
fp@1869: };
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@2013: class AliasPositionParser:
fp@2013:     public NumberListParser
fp@2013: {
fp@2013:     public:
fp@2013:         AliasPositionParser(const AliasMap &aliasMap):
fp@2013:             aliasMap(aliasMap) {}
fp@2013: 
fp@2013:     protected:
fp@2013:         int getMax() {
fp@2013:             AliasMap::const_iterator i;
fp@2013:             int maxPos = -1;
fp@2013: 
fp@2013:             for (i = aliasMap.begin(); i != aliasMap.end(); i++) {
fp@2013:                 if (i->first > maxPos) {
fp@2013:                     maxPos = i->first;
fp@2013:                 }
fp@2013:             }
fp@2013: 
fp@2013:             return maxPos;
fp@2013:         };
fp@2013: 
fp@2013:     private:
fp@2013:         const AliasMap &aliasMap;
fp@2013: };
fp@2013: 
fp@2013: /*****************************************************************************/
fp@2013: 
fp@1142: Command::Command(const string &name, const string &briefDesc):
fp@1142:     name(name),
fp@1142:     briefDesc(briefDesc),
fp@2529:     verbosity(Normal),
fp@2529:     emergency(false),
fp@2529:     force(false)
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: Command::~Command()
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1869: void Command::setMasters(const string &m)
fp@1869: {
fp@1869:     masters = m;
fp@1826: };
fp@1826: 
fp@1826: /*****************************************************************************/
fp@1826: 
fp@1142: void Command::setVerbosity(Verbosity v)
fp@1142: {
fp@1804:     verbosity = v;
fp@1142: };
fp@1142: 
fp@1151: /*****************************************************************************/
fp@1151: 
fp@2010: void Command::setAliases(const string &a)
fp@2010: {
fp@2010:     aliases = a;
fp@2010: };
fp@2010: 
fp@2010: /*****************************************************************************/
fp@2010: 
fp@2010: void Command::setPositions(const string &p)
fp@2010: {
fp@2010:     positions = p;
fp@2010: };
fp@2010: 
fp@2010: /*****************************************************************************/
fp@2010: 
fp@2010: void Command::setDomains(const string &d)
fp@2010: {
fp@2010:     domains = d;
fp@1166: };
fp@1166: 
fp@1166: /*****************************************************************************/
fp@1166: 
fp@1166: void Command::setDataType(const string &t)
fp@1166: {
fp@1804:     dataType = t;
fp@1166: };
fp@1166: 
fp@1166: /*****************************************************************************/
fp@1166: 
fp@2529: void Command::setEmergency(bool e)
fp@2529: {
fp@2529:     emergency = e;
fp@2529: };
fp@2529: 
fp@2529: /*****************************************************************************/
fp@2529: 
fp@1166: void Command::setForce(bool f)
fp@1166: {
fp@1804:     force = f;
fp@1166: };
fp@1166: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: void Command::setOutputFile(const string &f)
fp@1335: {
fp@1804:     outputFile = f;
fp@1335: };
fp@1335: 
fp@2436: /*****************************************************************************/
fp@2436: 
fp@2436: void Command::setSkin(const string &s)
fp@2436: {
fp@2436:     skin = s;
fp@2436: };
fp@2436: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: bool Command::matchesSubstr(const string &cmd) const
fp@1142: {
fp@1142:     return name.substr(0, cmd.length()) == cmd;
fp@1142: }
fp@2421: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: bool Command::matchesAbbrev(const string &abb) const
fp@1142: {
fp@1142:     unsigned int i;
fp@1142:     size_t pos = 0;
fp@1142: 
fp@1142:     for (i = 0; i < abb.length(); i++) {
fp@1142:         pos = name.find(abb[i], pos);
fp@1142:         if (pos == string::npos)
fp@1142:             return false;
fp@1142:     }
fp@1142: 
fp@1142:     return true;
fp@1142: }
fp@2421: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1144: string Command::numericInfo()
fp@1144: {
fp@1144:     stringstream str;
fp@1144: 
fp@1144:     str << "Numerical values can be specified either with decimal (no" << endl
fp@1144:         << "prefix), octal (prefix '0') or hexadecimal (prefix '0x') base."
fp@1144:         << endl;
fp@1144: 
fp@1144:     return str.str();
fp@1144: }
fp@1144: 
fp@1144: /*****************************************************************************/
fp@1144: 
fp@1155: void Command::throwInvalidUsageException(const stringstream &s) const
fp@1142: {
fp@1142:     throw InvalidUsageException(s);
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1834: void Command::throwCommandException(const string &msg) const
fp@1834: {
fp@1834:     throw CommandException(msg);
fp@1834: }
fp@1834: 
fp@1834: /*****************************************************************************/
fp@1834: 
fp@1155: void Command::throwCommandException(const stringstream &s) const
fp@1142: {
fp@1142:     throw CommandException(s);
fp@1142: }
fp@1142: 
fp@1151: /*****************************************************************************/
fp@1151: 
fp@1155: void Command::throwSingleSlaveRequired(unsigned int size) const
fp@1155: {
fp@1155:     stringstream err;
fp@1155: 
fp@1199:     err << "The slave selection matches " << size << " slaves. '"
fp@1155:         << name << "' requires a single slave.";
fp@1155: 
fp@1155:     throwInvalidUsageException(err);
fp@1155: }
fp@1155: 
fp@1155: /*****************************************************************************/
fp@1155: 
fp@1869: Command::MasterIndexList Command::getMasterIndices() const
fp@1869: {
fp@1880:     MasterIndexList indices;
fp@1869: 
fp@1869:     try {
fp@1869:         MasterIndexParser p;
fp@1869:         indices = p.parse(masters.c_str());
fp@1869:     } catch (MasterDeviceException &e) {
fp@1880:         stringstream err;
fp@1880:         err << "Failed to obtain number of masters: " << e.what();
fp@1880:         throwCommandException(err);
fp@1869:     } catch (runtime_error &e) {
fp@1880:         stringstream err;
fp@1869:         err << "Invalid master argument '" << masters << "': " << e.what();
fp@1880:         throwInvalidUsageException(err);
fp@1880:     }
fp@1880: 
fp@1880:     return indices;
fp@1869: }
fp@1869: 
fp@1869: /*****************************************************************************/
fp@1869: 
fp@1870: unsigned int Command::getSingleMasterIndex() const
fp@1870: {
fp@1880:     MasterIndexList masterIndices = getMasterIndices();
fp@2013: 
fp@1870:     if (masterIndices.size() != 1) {
fp@1880:         stringstream err;
fp@1870:         err << getName() << " requires to select a single master!";
fp@1870:         throwInvalidUsageException(err);
fp@1870:     }
fp@2013: 
fp@1880:     return masterIndices.front();
fp@1870: }
fp@1870: 
fp@1870: /*****************************************************************************/
fp@1870: 
fp@1151: Command::SlaveList Command::selectedSlaves(MasterDevice &m)
fp@1151: {
fp@1160:     ec_ioctl_master_t master;
fp@2010:     unsigned int i;
fp@1151:     ec_ioctl_slave_t slave;
fp@1151:     SlaveList list;
fp@1151: 
fp@1160:     m.getMaster(&master);
fp@1160: 
fp@2010:     if (aliases == "-") { // no alias given
fp@2010:         PositionParser pp(master.slave_count);
fp@2010:         NumberListParser::List posList = pp.parse(positions.c_str());
fp@2010:         NumberListParser::List::const_iterator pi;
fp@2013: 
fp@2010:         for (pi = posList.begin(); pi != posList.end(); pi++) {
fp@2014:             if (*pi < master.slave_count) {
fp@2014:                 m.getSlave(&slave, *pi);
fp@2014:                 list.push_back(slave);
fp@2014:             }
fp@1151:         }
fp@2010:     } else { // aliases given
fp@2010:         SlaveAliasParser ap(master, m);
fp@2010:         NumberListParser::List aliasList = ap.parse(aliases.c_str());
fp@2010:         NumberListParser::List::const_iterator ai;
fp@2010: 
fp@2010:         for (ai = aliasList.begin(); ai != aliasList.end(); ai++) {
fp@2010: 
fp@2010:             // gather slaves with that alias (and following)
fp@2010:             uint16_t lastAlias = 0;
fp@2010:             vector<ec_ioctl_slave_t> aliasSlaves;
fp@2010: 
fp@1160:             for (i = 0; i < master.slave_count; i++) {
fp@1151:                 m.getSlave(&slave, i);
fp@1151:                 if (slave.alias) {
fp@2010:                     if (lastAlias && lastAlias == *ai && slave.alias != *ai) {
fp@2010:                         // ignore multiple ocurrences of the same alias to
fp@2010:                         // assure consistency for the position argument
fp@2010:                         break;
fp@2010:                     }
fp@1151:                     lastAlias = slave.alias;
fp@1151:                 }
fp@2010:                 if (lastAlias == *ai) {
fp@2010:                     aliasSlaves.push_back(slave);
fp@2010:                 }
fp@2010:             }
fp@2010: 
fp@2010:             PositionParser pp(aliasSlaves.size());
fp@2010:             NumberListParser::List posList = pp.parse(positions.c_str());
fp@2010:             NumberListParser::List::const_iterator pi;
fp@2010: 
fp@2010:             for (pi = posList.begin(); pi != posList.end(); pi++) {
fp@2010:                 if (*pi < aliasSlaves.size()) {
fp@2010:                     list.push_back(aliasSlaves[*pi]);
fp@2010:                 }
fp@1151:             }
fp@1151:         }
fp@1151:     }
fp@1151: 
fp@1151:     return list;
fp@1151: }
fp@1151: 
fp@1156: /*****************************************************************************/
fp@1156: 
fp@1156: bool operator<(
fp@1156:         const ec_ioctl_config_t &a,
fp@1156:         const ec_ioctl_config_t &b
fp@1156:         )
fp@1156: {
fp@1156:     return a.alias < b.alias
fp@1156:         || (a.alias == b.alias && a.position < b.position);
fp@1156: }
fp@1156: 
fp@1156: /*****************************************************************************/
fp@1156: 
fp@1156: Command::ConfigList Command::selectedConfigs(MasterDevice &m)
fp@1156: {
fp@1156:     unsigned int i;
fp@1156:     ec_ioctl_master_t master;
fp@1156:     ec_ioctl_config_t config;
fp@1156:     ConfigList list;
fp@1156:     stringstream err;
fp@1156: 
fp@1156:     m.getMaster(&master);
fp@1156: 
fp@2013:     if (aliases == "-" && positions == "-") { // shortcut
fp@2013:         for (i = 0; i < master.config_count; i++) {
fp@2013:             m.getConfig(&config, i);
fp@2010:             list.push_back(config);
fp@2010:         }
fp@2013:     } else { // take the long way home...
fp@2013:         ConfigMap configs;
fp@2013:         uint16_t maxAlias = 0;
fp@2013: 
fp@2013:         // fill cascaded map structure with all configs
fp@2013:         for (i = 0; i < master.config_count; i++) {
fp@2013:             m.getConfig(&config, i);
fp@2013:             AliasMap &aliasMap = configs[config.alias];
fp@2013:             aliasMap[config.position] = config;
fp@2013:             if (config.alias > maxAlias) {
fp@2013:                 maxAlias = config.alias;
fp@2013:             }
fp@2013:         }
fp@2013: 
fp@2013:         ConfigAliasParser ap(maxAlias);
fp@2010:         NumberListParser::List aliasList = ap.parse(aliases.c_str());
fp@2010:         NumberListParser::List::const_iterator ai;
fp@2010: 
fp@2010:         for (ai = aliasList.begin(); ai != aliasList.end(); ai++) {
fp@2010: 
fp@2013:             ConfigMap::iterator ci = configs.find(*ai);
fp@2013:             if (ci == configs.end()) {
fp@2013:                 continue;
fp@2013:             }
fp@2013: 
fp@2013:             AliasMap &aliasMap = configs[*ai];
fp@2013:             AliasPositionParser pp(aliasMap);
fp@2010:             NumberListParser::List posList = pp.parse(positions.c_str());
fp@2010:             NumberListParser::List::const_iterator pi;
fp@2010: 
fp@2010:             for (pi = posList.begin(); pi != posList.end(); pi++) {
fp@2013:                 AliasMap::const_iterator ci;
fp@2013: 
fp@2013:                 ci = aliasMap.find(*pi);
fp@2013:                 if (ci != aliasMap.end()) {
fp@2010:                     list.push_back(ci->second);
fp@1156:                 }
fp@1156:             }
fp@1156:         }
fp@1156:     }
fp@1156: 
fp@1156:     list.sort();
fp@1156:     return list;
fp@1156: }
fp@1156: 
fp@1142: /****************************************************************************/
fp@1146: 
fp@2453: Command::DomainList Command::selectedDomains(MasterDevice &m,
fp@2453:         const ec_ioctl_master_t &io)
fp@2453: {
fp@1804:     DomainList list;
fp@1166: 
fp@2453:     PositionParser pp(io.domain_count);
fp@2010:     NumberListParser::List domList = pp.parse(domains.c_str());
fp@2010:     NumberListParser::List::const_iterator di;
fp@2010: 
fp@2010:     for (di = domList.begin(); di != domList.end(); di++) {
fp@2453:         if (*di < io.domain_count) {
fp@2014:             ec_ioctl_domain_t d;
fp@2014:             m.getDomain(&d, *di);
fp@2014:             list.push_back(d);
fp@2014:         }
fp@1804:     }
fp@1804: 
fp@1804:     return list;
fp@1166: }
fp@1166: 
fp@1166: /****************************************************************************/
fp@1166: 
fp@2529: int Command::emergencySlave() const
fp@2529: {
fp@2529:     unsigned int ret;
fp@2529: 
fp@2529:     stringstream str;
fp@2529:     str << positions;
fp@2529:     str >> ret;
fp@2529: 
fp@2529:     return ret;
fp@2529: }
fp@2529: 
fp@2529: /****************************************************************************/
fp@2529: 
fp@1146: string Command::alStateString(uint8_t state)
fp@1146: {
fp@1918:     string ret;
fp@1918: 
fp@1918:     switch (state & EC_SLAVE_STATE_MASK) {
fp@1918:         case 1: ret = "INIT"; break;
fp@1918:         case 2: ret = "PREOP"; break;
fp@1918:         case 3: ret = "BOOT"; break;
fp@1918:         case 4: ret = "SAFEOP"; break;
fp@1918:         case 8: ret = "OP"; break;
fp@1918:         default: ret = "???";
fp@1918:     }
fp@1918: 
fp@2421:     if (state & EC_SLAVE_STATE_ACK_ERR) {
fp@1918:         ret += "+ERROR";
fp@1918:     }
fp@1918: 
fp@1918:     return ret;
fp@1918: }
fp@1918: 
fp@1918: /****************************************************************************/