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@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: #include <sstream>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandAlias.h"
fp@1142: #include "sii_crc.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandAlias::CommandAlias():
fp@1142:     Command("alias", "Write alias addresses.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandAlias::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS] <ALIAS>" << endl
fp@1142:         << endl
fp@1142:         << getBriefDescription() << endl
fp@1142:         << endl
fp@1142:         << "Arguments:" << endl
fp@1144:         << "  ALIAS must be an unsigned 16 bit number. Zero means" << endl
fp@1144:         << "        removing an alias address." << endl
fp@1157:         << endl
fp@1157:         << "If multiple slaves are selected, the --force option" << endl
fp@1157:         << "is required." << endl
fp@1157:         << endl
fp@1142:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>" << endl
fp@1157:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1157:         << "                         the 'slaves' command." << endl
fp@1157:         << "  --force    -f          Acknowledge writing aliases of" << endl
fp@1157:         << "                         multiple slaves." << endl
fp@1142:         << endl
fp@1142:         << numericInfo();
fp@1142: 
fp@1142:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Writes the Secondary slave address (alias) to the slave's SII.
fp@1142:  */
fp@1826: void CommandAlias::execute(const StringVector &args)
fp@1142: {
fp@1142:     uint16_t alias;
fp@1142:     stringstream err, strAlias;
fp@1142:     int number;
fp@1151:     SlaveList slaves;
fp@1151:     SlaveList::const_iterator si;
fp@1142: 
fp@1142:     if (args.size() != 1) {
fp@1142:         err << "'" << getName() << "' takes exactly one argument!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1142:     strAlias << args[0];
fp@1142:     strAlias
fp@1142:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1142:         >> number;
fp@1142:     if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
fp@1142:         err << "Invalid alias '" << args[0] << "'!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142:     alias = number;
fp@1142: 
fp@1870:     MasterDevice m(getSingleMasterIndex());
fp@1151:     m.open(MasterDevice::ReadWrite);
fp@1151:     slaves = selectedSlaves(m);
fp@2421: 
fp@1166:     if (slaves.size() > 1 && !getForce()) {
fp@1151:         err << "This will write the alias addresses of "
fp@1151:             << slaves.size() << " slaves to " << alias
fp@1151:             << "! Please specify --force to proceed.";
fp@1151:         throwCommandException(err);
fp@1151:     }
fp@1142: 
fp@1157:     if (!slaves.size() && getVerbosity() != Quiet) {
fp@1157:         cerr << "Warning: Selection matches no slaves!" << endl;
fp@1157:     }
fp@1157: 
fp@1151:     for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1151:         writeSlaveAlias(m, *si, alias);
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: /** Writes the Secondary slave address (alias) to the slave's SII.
fp@1142:  */
fp@1142: void CommandAlias::writeSlaveAlias(
fp@1142:         MasterDevice &m,
fp@1151:         const ec_ioctl_slave_t &slave,
fp@1142:         uint16_t alias
fp@1142:         )
fp@1142: {
fp@1142:     ec_ioctl_slave_sii_t data;
fp@1142:     stringstream err;
fp@1142:     uint8_t crc;
fp@1142: 
fp@1142:     if (slave.sii_nwords < 8) {
fp@1142:         err << "Current SII contents are too small to set an alias "
fp@1142:             << "(" << slave.sii_nwords << " words)!";
fp@1142:         throwCommandException(err);
fp@1142:     }
fp@1142: 
fp@1142:     // read first 8 SII words
fp@1151:     data.slave_position = slave.position;
fp@1142:     data.offset = 0;
fp@1142:     data.nwords = 8;
fp@1142:     data.words = new uint16_t[data.nwords];
fp@1142: 
fp@1142:     try {
fp@1142:         m.readSii(&data);
fp@1142:     } catch (MasterDeviceException &e) {
fp@1142:         delete [] data.words;
fp@1142:         err << "Failed to read SII: " << e.what();
fp@1142:         throwCommandException(err);
fp@1142:     }
fp@1142: 
fp@1142:     // write new alias address in word 4
fp@1254:     data.words[4] = cpu_to_le16(alias);
fp@1142: 
fp@1142:     // calculate checksum over words 0 to 6
fp@1142:     crc = calcSiiCrc((const uint8_t *) data.words, 14);
fp@1142: 
fp@1142:     // write new checksum into first byte of word 7
fp@1142:     *(uint8_t *) (data.words + 7) = crc;
fp@1142: 
fp@1142:     // write first 8 words with new alias and checksum
fp@1142:     try {
fp@1142:         m.writeSii(&data);
fp@1142:     } catch (MasterDeviceException &e) {
fp@1142:         delete [] data.words;
fp@1142:         err << "Failed to read SII: " << e.what();
fp@1142:         throwCommandException(err);
fp@1142:     }
fp@1142: 
fp@1142:     delete [] data.words;
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/